Integrated task and motion planning for quadrotors under metric interval temporal logic specifications

Abstract

This paper presents an optimization-based method for the integrated task and motion planning problem under temporal specifications. It is traditional to handle the task specifications and the continuous motion trajectory in separate layers. Due to model mismatching at different layers, it often leads to a sub-optimal or even infeasible trajectory. In this paper, we use the B-spline to formulate a mixed integer programming problem to satisfy the temporal constraints and generates a dynamically feasible trajectory in one run. Compared to existing works, our method guarantees the satisfaction of the state and temporal constraints over the entire trajectory instead of at discrete time points. The proposed method is tested with a simulated quadrotor and validated with various examples.