Temporal Logic Motion Planning

Motlatsi Seotsanyana

doi:10.14429/dsj.60.99

Motlatsi Seotsanyana Council for Scientific and Industrial Research, South Africa

Abstract

In this paper, a critical review on temporal logic motion planning is presented. The review paper aims to address the following problems: (a) In a realistic situation, the motion planning problem is carried out in real-time, in a dynamic, uncertain and ever-changing environment, and (b) The accomplishment of high-level specification tasks which are more than just the traditional planning problem (i.e., start at initial state A and go to the goal state B) are considered. The use of theory of computation and formal methods, tools and techniques present a promising direction of research in solving motion planning problems that are influenced by high-level specification of complex tasks. The review, therefore, focuses only on those papers that use the aforementioned tools and techniques to solve a motion planning problem. A proposed robust platform that deals with the complexity of more expressive temporal logics is also presented.

Defence Science Journal, 2010, 60(1), pp.23-38, DOI:http://dx.doi.org/10.14429/dsj.60.99

Author Biography

Motlatsi Seotsanyana, Council for Scientific and Industrial Research, South Africa

Mr Motlatsi Seotsanyana received his MSc (Computer Science) from the University of Stellenbosch, in 2007. He is currently a researcher at Mobile Intelligent Autonomous Systems, Modelling and Digital Science, Council for Scientific and Industrial Research, in South Africa. His current research interests include: formal methods, motion planning, software engineering, distributed systems, and database management systems.