An Interactive System for Multiple-Task Linear Temporal Logic Path Planning

Beyond programming robots to accomplish a single high-level task at a time, people also hope robots follow instructions and complete a series of tasks while meeting their requirements. This paper presents an interactive software system that consists of a multiple-task linear temporal logic (LTL) path planner and a human-machine interface (HMI). The HMI transforms human oral instructions into task commands that can be understood by the machine. The planner grows a rapid random exploring tree to search for solutions for multiple tasks. When switching tasks, the search tree is re-initialized and reconnected to utilize the information gathered during the exploration of the workspace. The feasibility of the improved planner is theoretically guaranteed, and profiling in simulation shows an acceleration in planning. An experiment with a quadcopter is conducted to show that the combination of the multiple-task LTL planner and the HMI results in a synergistic effect in real-world applications.

Authors

• Yizhou Chen
• Xinyi Wang 0007
• Zixuan Guo
• Ruoyu Wang 0032
• Xunkuai Zhou
• Guidong Yang
• Shupeng Lai
• Ben M. Chen

Keywords

• Interactive systems
• Transforms
• Switches
• Programming
• Software systems
• Probabilistic logic
• Path planning
• Interactive System
• Temporal Logic
• Linear Logic
• Linear Temporal Logic
• Multiple Tasks
• Tree Search
• Task Switching
• Knowledge Base
• Grassland
• Task Completion
• Feasible Solution
• Continuous State
• Root Node
• Tree Nodes
• Root Of The Tree
• Vertices
• User-friendly Interface
• Effective Radius
• Planning Problem
• Candidate Parents
• Path Segment
• Incorrect Labels
• Environmental Uncertainty
• Hybrid State
• Starting State