Motion Planning with Safety Constraints and High-Level Task Specifications

TL;DR

This paper introduces a novel motion planning method that integrates safety constraints and high-level task specifications, improving efficiency and correctness in unpredictable environments through a pruning technique validated by simulations.

Contribution

It presents a pruning-based approach for motion planning with temporal logic specifications, enhancing computational efficiency while maintaining correctness.

Findings

Significant reduction in planning time due to pruning.

Method preserves correctness of the optimal policy.

Validated effectiveness through simulation results.

Abstract

We present a method to solve planning problems involving sequential decision making in unpredictable environments while accomplishing a high level task specification expressed using the formalism of linear temporal logic. Our method improves the state of the art by introducing a pruning step that preserves correctness while significantly reducing the time needed to compute an optimal policy. Our theoretical contribution is coupled with simulations substantiating the value of the proposed method.