Motion Planning with Complex Goals
Amit Bhatia, Matthew R. Maly, Lydia E. Kavraki, Moshe Y. Vardi · IEEE Robotics & Automation Magazine · 2011
This article describes approach for solving motion planning problems for mobile robots involving temporal goals. Traditional motion planning for mobile robotic systems involves the construction of a motion plan that takes the system from an initial state to a set of goal states while avoiding collisions with obstacles at all times. The motion plan is also required to respect the dynamics of the system that are typically described by a set of differential equations. A wide variety of techniques have been pro posed over the last two decades to solve such problems [1], [2].