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A Graphical Language for LTL Motion and Mission Planning


Abstract Linear Temporal Logic is gaining increasing popularity as a high level specification language for robot motion planning due to its expressive power and scalability of LTL control synthesis algorithms. This formalism, however, requires expert knowledge and makes it inaccessible to non-expert users. This thesis introduces a graphical specification environment to create high level motion plans to control robots in the field by converting a visual representation of the motion/task plan into a Linear Temporal Logic (LTL) specification. The visual interface is built on the Android tablet platform and provides functionality to create task plans through a set of well defined gestures and on screen controls. It uses the notion of waypoints to quickl... (more)
Created Date 2013
Contributor Srinivas, Shashank (Author) / Fainekos, Georgios (Advisor) / Baral, Chitta (Committee member) / Burleson, Winslow (Committee member) / Arizona State University (Publisher)
Subject Computer science / Graphical Language / Human Robot Interaction / LTL / Robotics / User Interface
Type Masters Thesis
Extent 69 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note M.S. Computer Science 2013
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis