SpaTiaL: monitoring and planning of robotic tasks using spatio-temporal logic specifications
Authors: 
Christian Pek, Georg Friedrich Schuppe, Francesco Esposito, Jana Tumova, Danica KragicAuthors Info & Claims
Christian Pek, Georg Friedrich Schuppe, Francesco Esposito, Jana Tumova, Danica KragicAuthors Info & ClaimsAbstract
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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Published: 03 November 2023
Accepted: 26 September 2023
Received: 31 December 2022
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