Multi-layer Motion Planning with Kinodynamic and Spatio-Temporal Constraints
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to calculate a geometric lead path. This path then guides an asymptotically optimal sampling-based kinodynamic planner, which minimizes an STL-robustness cost to jointly satisfy spatiotemporal and kinodynamic constraints.
Advisor: Professor Constantinos Chamzas (WPI)
Committee: Professor Kevin Leahy (WPI), Professor Carlo Pinciroli (WPI)