Footstep Planning with Encoded Linear Temporal Logic Specifications
This work addresses footstep planning for robotics by integrating LTL for enhanced safety and reasoning, but it appears incremental as it builds on existing MIQCQP methods with LTL encoding.
The authors tackled the problem of footstep planning by encoding Linear Temporal Logic (LTL) specifications into a Mixed Integer Quadratically Constrained Quadratic Program (MIQCQP), resulting in a planner that facilitates safe locomotion and high-level reasoning in simulations.
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.