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Motion planning with temporal-logic specifications: Progress and challenges

机译：具有时间逻辑规范的运动计划：进展和挑战

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摘要

Integrating task and motion planning is becoming increasingly important due to the recognition that a growing number of robotics applications in navigation, search-and-rescue missions, manipulation, and medicine involve reasoning with both discrete abstractions and continuous motions. The problem poses unique computational challenges: a vast hybrid discrete/continuous space must be searched while accounting for complex geometries, motion dynamics, collision avoidance and temporal goals. This paper takes the position that continued progress relies on integrative approaches that bring together techniques from robotics and AI. In this context, the paper examines robot motion planning with temporal-logic specifications and discusses open challenges and directions for future research. The paper aims to promote a continuing dialog between robotics and AI communities.
机译：由于认识到越来越多的机器人技术在导航，搜索和救援任务，操纵和医学中涉及离散抽象和连续运动的推理，因此集成任务和运动计划变得越来越重要。该问题带来了独特的计算挑战：必须在考虑复杂的几何形状，运动动力学，避免碰撞和时间目标的同时，搜索巨大的混合离散/连续空间。本文的立场是，持续的进步依赖于整合了机器人技术和AI技术的集成方法。在这种情况下，本文研究了符合时间逻辑规范的机器人运动计划，并讨论了未来研究的挑战和方向。本文旨在促进机器人技术与AI社区之间的持续对话。

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