Download A Modular ROS package for Linear Temporal Logic based Motion

ABSTRACT
Objective of this thesis project is to build a prototype using Linear Temporal Logic
specifications for generating a 2D motion plan commanding an iRobot to fulfill the
specifications. This thesis project was created for Cyber Physical Systems Lab in Arizona
State University. The end product of this thesis is creation of a software solution which
can be used in the academia and industry for research in cyber physical systems related
applications.
The major features of the project are: creating a modular system for motion planning, use
of Robot Operating System (ROS), use of triangulation for environment decomposition
and using stargazer sensor for localization. The project is built on an open source
software called ROS which provides an environment where it is very easy to integrate
different modules be it software or hardware on a Linux based platform. Use of ROS
implies the project or its modules can be adapted quickly for different applications as the
need arises.
The final software package created and tested takes a data file as its input which contains
the LTL specifications, a symbols list used in the LTL and finally the environment
polygon data containing real world coordinates for all polygons and also information on
neighbors and parents of each polygon. The software package successfully ran the
experiment of coverage, reachability with avoidance and sequencing.
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