Dhaval Gujarathi

2 accepted papers

2022

MT*: Multi-Robot Path Planning for Temporal Logic Specifications

IROS 2022poster

We address the path planning problem for a team of robots satisfying a complex high-level mission specification given in the form of a Linear Temporal Logic (LTL) formula. The state-of-the-art approach to this problem employs the automata-theoretic model checking technique to solve this problem. Thi…

Cited by 21 Source ↗Scholar ↗

2020

T: A Heuristic Search Based Path Planning Algorithm for Temporal Logic Specifications

Danish Khalidi, Dhaval Gujarathi, Indranil Saha

ICRA 2020poster

The fundamental path planning problem for a mobile robot involves generating a trajectory for point-to-point navigation while avoiding obstacles. Heuristic-based search algorithms like A* have been shown to be efficient in solving such planning problems. Recently, there has been an increased interes…

Cited by 26 Source ↗Scholar ↗