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[LMF+16] Morteza Lahijanian and Matthew R. Maly and Dror Fried and Lydia E. Kavraki and Hadas Kress-Gazit and Moshe Y. Vardi. Iterative Temporal Planning in Uncertain Environments With Partial Satisfaction Guarantees. IEEE Transactions on Robotics, 32(3), pages 538--599, IEEE. May 2016. [bib]
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Abstract. This work introduces a motion-planning framework for a hybrid system with general continuous dynamics to satisfy a temporal logic specification consisting of co-safety and safety components in a partially unknown environment. The framework employs a multi-layered synergistic planner to generate trajectories that satisfy the specification and adopts an iterative replanning strategy to deal with unknown obstacles. When the discovery of an obstacle renders the specification unsatisfiable, a division between the constraints in the specification is considered. The co-safety component of the specification is treated as a soft constraint, whose partial satisfaction is allowed, while the safety component is viewed as a hard constraint, whose violation is forbidden. To partially satisfy the co-safety component, inspirations