A ROS Package for Human-In-the-Loop Planning and Control under Linear Temporal Logic Tasks

• In this paper, we propose a ROS software package for planning and control of robotic systems with a human-in-the-Ioop focus. The software uses temporal logic specifications, specifically Linear Temporal Logic, for a language-based method to develop correct-by-design high level robot plans. The approach is structured to allow a human to adjust the high-level plan online. A human may also take control of the robot (in a low-level control fashion), but the software prevents the human from implementing dangerous behaviour that would violate the high-level task specification. Finally, the planner is able to learn human-preferred high-level tasks by tracking human low-level control inputs in an inverse learning framework. The proposed approach is demonstrated in a warehouse setting with multiple robot agents to showcase the efficacy of the proposed solution.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

Keyword

Behavioral research

Computer circuits

High level languages

Level control

Machine design

Robot programming

Temporal logic

Human-in-the-loop

Inverse learning

Learn

Linear temporal logic

Planning and control

Robot plan

Robotic systems

Software use

Task specifications

Temporal logic specifications

Specifications

Publication and Content Type

ref (subject category)

kon (subject category)