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title	authors	date	doi	publication_types	publication	publication_short	abstract	tags	featured	url_pdf	url_code	url_dataset	url_poster	url_project	url_slides	url_source	url_video	image	projects	slides
Language-Guided Sampling-Based Planning Using Temporal Relaxation.	admin Cristian-Ioan Vasile Calin Belta	2016-12-01		1	In International Workshop on the Algorithmic Foundations of Robotics, 2016	In WAFR 2016	In this paper, we focus on robot motion planning from timed temporal logic specifications. We propose a sampling-based algorithm and an associated language-guided biasing scheme. We leverage the notion of temporal relaxation of time-window temporal logic formulae (TWTL) to reformulate the temporal logic synthesis problem into an optimization problem. Our algorithm exhibits an exploration-exploitation structure, but retains probabilistic completeness. Moreover, if the problem does not have a solution due to time constraints, the algorithm returns a candidate path that satisfies a minimally relaxed version of the specification. The path may inform operators about timing problems with the specification or the system. We provide simulations to highlight the performance of the proposed algorithm.		true									caption focal_point preview_only false	twtlplan