SpaTiaL

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

Journal article (2023)

Authors

Christian Pek Robot Dynamics - Mechanical, Maritime and Materials Engineering , KTH Royal Institute of Technology
Georg Friedrich Schuppe KTH Royal Institute of Technology
Francesco Esposito KTH Royal Institute of Technology
Jana Tumova KTH Royal Institute of Technology
Danica Kragic KTH Royal Institute of Technology
Research Group
Robot Dynamics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 Christian Pek, Georg Friedrich Schuppe, Francesco Esposito, Jana Tumova, Danica Kragic
DOI
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https://doi.org/10.1007/s10514-023-10145-1
Monitoring Task and motion planning Object-centric planning Spatio-temporal logics
More Info
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Published Date

2023

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Robot Dynamics

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.