论文标题
脚步规划与编码线性时间逻辑规格
Footstep Planning with Encoded Linear Temporal Logic Specifications
论文作者
论文摘要
本文介绍了一种将线性时间逻辑（LTL）规范编码为混合整数四二次二次二次程序（MIQCQP）脚步计划者的方法。我们建议将LTL规范整合到计划者中，不仅有助于无障碍区域之间的安全和理想的运动，而且还为与联系计划的高级推理提供了丰富的语言。满足编码LTL规范的2D环境中脚步计划者的模拟证明了这项研究的结果。
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.
