時相論理制約下での情報獲得経路計画のための後退ホライズンアルゴリズム
Technical Report: A Receding Horizon Algorithm for Informative Path Planning with Temporal Logic Constraints
時相論理の制約を満たしつつセンシングロボットが最も情報量の多い経路を計画するため、情報理論と形式制御合成を組み合わせた後退ホライズン型オンラインアルゴリズムを提案した。
著者: Austin Jones, Mac Schwager, Calin Belta
分類: cs.RO
原文アブストラクト
This technical report is an extended version of the paper 'A Receding Horizon Algorithm for Informative Path Planning with Temporal Logic Constraints' accepted to the 2013 IEEE International Conference on Robotics and Automation (ICRA). This paper considers the problem of finding the most informative path for a sensing robot under temporal logic constraints, a richer set of constraints than have previously been considered in information gathering. An algorithm for informative path planning is presented that leverages tools from information theory and formal control synthesis, and is proven to give a path that satisfies the given temporal logic constraints. The algorithm uses a receding horizon approach in order to provide a reactive, on-line solution while mitigating computational complexity. Statistics compiled from multiple simulation studies indicate that this algorithm performs better than a baseline exhaustive search approach.
