Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic
This addresses motion planning for robots with temporal constraints, but it appears incremental as it applies existing timed automata methods to MITL specifications.
The paper tackles robot motion planning under time-bounded high-level specifications by using Metric Interval Temporal Logic (MITL) to represent tasks and constructing a timed automaton to find feasible motion sequences, but no concrete results or numbers are provided.
In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task specification and then we provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find a feasible motion (or path) sequence for the robot to complete the task.