General Optimization Framework for Recurrent Reachability Objectives

TL;DR

This paper introduces a general optimization framework for mobile robot path planning focused on recurrent reachability objectives, optimizing visit times, their variance, and move frequency.

Contribution

It presents a novel, efficient algorithm for strategy synthesis tailored to recurrent reachability objectives in robot path planning.

Findings

Successfully applied to complex instances demonstrating effectiveness.

Optimizes multiple parameters like visit time, variance, and move frequency.

Provides a versatile framework adaptable to various recurrent objectives.

Abstract

We consider the mobile robot path planning problem for a class of recurrent reachability objectives. These objectives are parameterized by the expected time needed to visit one position from another, the expected square of this time, and also the frequency of moves between two neighboring locations. We design an efficient strategy synthesis algorithm for recurrent reachability objectives and demonstrate its functionality on non-trivial instances.