SpaTiaL
monitoring and planning of robotic tasks using spatio-temporal logic specifications
Christian Pek (TU Delft - Robot Dynamics, 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)
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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.
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