Extended LTLvis Motion Planning interface (Extended Technical Report)

TL;DR

This paper presents an extended Android-based graphical interface for Linear Temporal Logic (LTL) motion planning, enabling nonexperts to easily create and customize plans that satisfy complex temporal goals.

Contribution

It introduces a user-friendly sketch-based LTL planning interface with predefined areas and path customization, enhancing accessibility and efficiency in motion planning.

Findings

Efficient plan generation balancing user sketches and LTL specifications

User-friendly interface for nonexperts in motion planning

Experimental validation demonstrating practical effectiveness

Abstract

This paper introduces an extended version of the Linear Temporal Logic (LTL) graphical interface. It is a sketch based interface built on the Android platform which makes the LTL control interface more straightforward and friendly to nonexpert users. By predefining a set of areas of interest, this interface can quickly and efficiently create plans that satisfy extended plan goals in LTL. The interface can also allow users to customize the paths for this plan by sketching a set of reference trajectories. Given the custom paths by the user, the LTL specification and the environment, the interface generates a plan balancing the customized paths and the LTL specifications. We also show experimental results with the implemented interface.