Footstep Planning with Encoded Linear Temporal Logic Specifications

TL;DR

This paper introduces a novel method to incorporate Linear Temporal Logic specifications into a footstep planner using MIQCQP, enabling high-level reasoning and safe locomotion in obstacle-rich environments.

Contribution

It encodes LTL specifications into a MIQCQP framework for footstep planning, enhancing high-level reasoning and safety in locomotion tasks.

Findings

Successful simulation in 2D environments

Effective encoding of LTL into MIQCQP

Improved safety and reasoning capabilities

Abstract

This article presents an approach to encode Linear Temporal Logic (LTL) Specifications into a Mixed Integer Quadratically Constrained Quadratic Program (MIQCQP) footstep planner. We propose that the integration of LTL specifications into the planner not only facilitates safe and desirable locomotion between obstacle-free regions, but also provides a rich language for high-level reasoning in contact planning. Simulations of the footstep planner in a 2D environment satisfying encoded LTL specifications demonstrate the results of this research.