01670nas a2200217   4500000000100000000000100001008004100002260001200043653001300055653002000068653001300088653001900101100001500120700001500135245004900150856009800199300001000297490000600307520112500313022001401438       2016                            d  c06/201610aRobotics10aLinear features10aPlanning10aTemporal Logic1 aAnil Kumar1 aRahul Kala00aLinear Temporal Logic-based Mission Planning  uhttp://www.ijimai.org/journal/sites/default/files/files/2016/05/ijimai20163_7_5_pdf_16569.pdf  a32-410 v33 aIn this paper, we describe the Linear Temporal Logic-based reactive motion planning. We address the problem of motion planning for mobile robots, wherein the goal specification of planning is given in complex environments. The desired task specification may consist of complex behaviors of the robot, including specifications for environment constraints, need of task optimality, obstacle avoidance, rescue specifications, surveillance specifications, safety specifications, etc. We use Linear Temporal Logic to give a representation for such complex task specification and constraints. The specifications are used by a verification engine to judge the feasibility and suitability of plans. The planner gives a motion strategy as output. Finally a controller is used to generate the desired trajectory to achieve such a goal. The approach is tested using simulations on the LTLMoP mission planning tool, operating over the Robot Operating System. Simulation results generated using high level planners and low level controllers work simultaneously for mission planning and controlling the physical behavior of the robot.  a1989-1660