2026-05-24T14:25:20Zhttps://keep.lib.asu.edu/oai/requestoai:keep.lib.asu.edu:node-1517932024-12-20T18:25:12Zoai_pmh:alloai_pmh:repo_items151793
https://hdl.handle.net/2286/R.I.17968
http://rightsstatements.org/vocab/InC/1.0/
All Rights Reserved
2013
viii, 60 p. : col. ill
Masters Thesis
Academic theses
Text
eng
Srinivas, Shashank
Fainekos, Georgios
Baral, Chitta
Burleson, Winslow
Arizona State University
Partial requirement for: M.S., Arizona State University, 2013
Includes bibliographical references (p. 56-60)
Field of study: Computer science
Linear Temporal Logic is gaining increasing popularity as a high level specification language for robot motion planning due to its expressive power and scalability of LTL control synthesis algorithms. This formalism, however, requires expert knowledge and makes it inaccessible to non-expert users. This thesis introduces a graphical specification environment to create high level motion plans to control robots in the field by converting a visual representation of the motion/task plan into a Linear Temporal Logic (LTL) specification. The visual interface is built on the Android tablet platform and provides functionality to create task plans through a set of well defined gestures and on screen controls. It uses the notion of waypoints to quickly and efficiently describe the motion plan and enables a variety of complex Linear Temporal Logic specifications to be described succinctly and intuitively by the user without the need for the knowledge and understanding of LTL specification. Thus, it opens avenues for its use by personnel in military, warehouse management, and search and rescue missions. This thesis describes the construction of LTL for various scenarios used for robot navigation using the visual interface developed and leverages the use of existing LTL based motion planners to carry out the task plan by a robot.
Computer Science
Graphical Language
Human Robot Interaction
LTL
Robotics
User Interface
Graphical user interfaces (Computer systems)
Artificial Intelligence
Robots--Motion--Planning.
Robots
A graphical language for LTL motion and mission planning