Timed automata approach for motion planning using metric interval temporal logic
Yuchen Zhou, Dipankar Maity, John S. Baras · 2016
In this paper, we consider the robot motion (or task) planning problem under some given bounded time high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task specification and then we provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find a feasible motion (or path) sequence for the robot to complete the task.