27,388 research outputs found

    Motion Planning and Controls with Safety and Temporal Constraints

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    Motion planning, or trajectory planning, commonly refers to a process of converting high-level task specifications into low-level control commands that can be executed on the system of interest. For different applications, the system will be different. It can be an autonomous vehicle, an Unmanned Aerial Vehicle(UAV), a humanoid robot, or an industrial robotic arm. As human machine interaction is essential in many of these systems, safety is fundamental and crucial. Many of the applications also involve performing a task in an optimal manner within a given time constraint. Therefore, in this thesis, we focus on two aspects of the motion planning problem. One is the verification and synthesis of the safe controls for autonomous ground and air vehicles in collision avoidance scenarios. The other part focuses on the high-level planning for the autonomous vehicles with the timed temporal constraints. In the first aspect of our work, we first propose a verification method to prove the safety and robustness of a path planner and the path following controls based on reachable sets. We demonstrate the method on quadrotor and automobile applications. Secondly, we propose a reachable set based collision avoidance algorithm for UAVs. Instead of the traditional approaches of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem seeking control set design for the aircraft to avoid collision. We apply our approach to collision avoidance scenarios of quadrotors and fixed-wing aircraft. In the second aspect of our work, we address the high level planning problems with timed temporal logic constraints. Firstly, we present an optimization based method for path planning of a mobile robot subject to timed temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specifications such as safety, coverage, motion sequencing etc. We use metric temporal logic (MTL) to encode the task specifications with timing constraints. We then translate the MTL formulae into mixed integer linear constraints and solve the associated optimization problem using a mixed integer linear program solver. We have applied our approach on several case studies in complex dynamical environments subjected to timed temporal specifications. Secondly, we also present a timed automaton based method for planning under the given timed temporal logic specifications. We use metric interval temporal logic (MITL), a member of the MTL family, to represent the task specification, and provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find an optimal motion (or path) sequence for the robot to complete the task

    Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic

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    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.Comment: Full Version for ECC 201

    Learning Points and Routes to Recommend Trajectories

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    The problem of recommending tours to travellers is an important and broadly studied area. Suggested solutions include various approaches of points-of-interest (POI) recommendation and route planning. We consider the task of recommending a sequence of POIs, that simultaneously uses information about POIs and routes. Our approach unifies the treatment of various sources of information by representing them as features in machine learning algorithms, enabling us to learn from past behaviour. Information about POIs are used to learn a POI ranking model that accounts for the start and end points of tours. Data about previous trajectories are used for learning transition patterns between POIs that enable us to recommend probable routes. In addition, a probabilistic model is proposed to combine the results of POI ranking and the POI to POI transitions. We propose a new F1_1 score on pairs of POIs that capture the order of visits. Empirical results show that our approach improves on recent methods, and demonstrate that combining points and routes enables better trajectory recommendations

    Towards trajectory anonymization: a generalization-based approach

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    Trajectory datasets are becoming popular due to the massive usage of GPS and locationbased services. In this paper, we address privacy issues regarding the identification of individuals in static trajectory datasets. We first adopt the notion of k-anonymity to trajectories and propose a novel generalization-based approach for anonymization of trajectories. We further show that releasing anonymized trajectories may still have some privacy leaks. Therefore we propose a randomization based reconstruction algorithm for releasing anonymized trajectory data and also present how the underlying techniques can be adapted to other anonymity standards. The experimental results on real and synthetic trajectory datasets show the effectiveness of the proposed techniques

    Formal Synthesis of Control Strategies for Positive Monotone Systems

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    We design controllers from formal specifications for positive discrete-time monotone systems that are subject to bounded disturbances. Such systems are widely used to model the dynamics of transportation and biological networks. The specifications are described using signal temporal logic (STL), which can express a broad range of temporal properties. We formulate the problem as a mixed-integer linear program (MILP) and show that under the assumptions made in this paper, which are not restrictive for traffic applications, the existence of open-loop control policies is sufficient and almost necessary to ensure the satisfaction of STL formulas. We establish a relation between satisfaction of STL formulas in infinite time and set-invariance theories and provide an efficient method to compute robust control invariant sets in high dimensions. We also develop a robust model predictive framework to plan controls optimally while ensuring the satisfaction of the specification. Illustrative examples and a traffic management case study are included.Comment: To appear in IEEE Transactions on Automatic Control (TAC) (2018), 16 pages, double colum

    Human Motion Trajectory Prediction: A Survey

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    With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page
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