SpaTiaL

Title

SpaTiaL: monitoring and planning of robotic tasks using spatio-temporal logic specifications

 Author

Pek, Christian (TU Delft Robot Dynamics; KTH Royal Institute of Technology) ORCID 0000-0001-7461-920X
Schuppe, Georg Friedrich (KTH Royal Institute of Technology)
Esposito, Francesco (KTH Royal Institute of Technology)
Tumova, Jana (KTH Royal Institute of Technology)
Kragic, Danica (KTH Royal Institute of Technology)

Date

2023

 Abstract

Many tasks require robots to manipulate objects while satisfying a complex interplay of spatial and temporal constraints. For instance, a table setting robot first needs to place a mug and then fill it with coffee, while satisfying spatial relations such as forks need to placed left of plates. We propose the spatio-temporal framework SpaTiaL that unifies the specification, monitoring, and planning of object-oriented robotic tasks in a robot-agnostic fashion. SpaTiaL is able to specify diverse spatial relations between objects and temporal task patterns. Our experiments with recorded data, simulations, and real robots demonstrate how SpaTiaL provides real-time monitoring and facilitates online planning. SpaTiaL is open source and easily expandable to new object relations and robotic applications.


 Subject

Monitoring
Object-centric planning
Spatio-temporal logics
Task and motion planning

 To reference this document use:

http://resolver.tudelft.nl/uuid:e74141ec-b0ba-4e3e-a29c-753eaa834932

 DOI

https://doi.org/10.1007/s10514-023-10145-1

 ISSN

0929-5593

 Source

Autonomous Robots, 47 (8), 1439-1462

 Part of collection

Institutional Repository

 Document type

journal article

 Rights

© 2023 Christian Pek, Georg Friedrich Schuppe, Francesco Esposito, Jana Tumova, Danica Kragic
Files
PDF s10514_023_10145_1.pdf 2.66 MB
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