Task_Motion_Planning_with_HLTL_and_GCS

A fast and scalable task and motion planning framework for tasks expressed in Hierarchical Linear Temporal Logic (H-LTL).

This repository contains code to accompany the paper Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems by Zhongqi Wei, Xusheng Luo and Changliu Liu.

Acknowledge

The codebased is based on the work Temporal Logic Motion Planning with Convex Optimization via Graphs of Convex Sets by Vince Kurtz and Hai Lin.

Installation

Make sure all dependencies are installed, then:

$ git clone https://github.com/intelligent-control-lab/Task_Motion_Planning_with_HLTL_and_GCS.git
$ cd Task_Motion_Planning_with_HLTL_and_GCS
$ pip install .

Dependencies

• Drake
• MONA
• ltlf2dfa
• MOSEK (license only)

Of these, only MONA and MOSEK require special consideration: all others can be installed with pip. For MOSEK, you only need a valid license: MOSEK itself is installed along with Drake.

Examples

The following examples and several other can be found in the examples directory. Please check the paper Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems for detailed description of those examples.

1. two-robot motion planning:examples/1_two_robot_case1.py

   

2. two-robot handover:examples/2_two_robot_case2.py

   

3. four-robot handover (scenario 1):examples/3_four_iiwa_linear_case.py

   

4. four-robot handover (scenario 2):examples/4_four_iiwa_rectangular_case.py

   

5. four-robot handover with obstacle (scenario 3):examples/4_four_iiwa_rectangular_complex_case1(obstacle).py

   

6. four-robot handover (scenario 4):examples/4_four_iiwa_rectangular_complex_case1(obstacle)1.py

   

7. four-wx200 robots handover:examples/5_four_wx200_rectangular_case.py

   

8. two-robots with conveyor:examples/6_two_iiwa_conveyor_case.py

   

9. Spot-robot handover:examples/7_iiwa_spot_handover_case.py

   

Video