Haris Miller

LTL-D*: Incrementally Optimal Replanning for Feasible and Infeasible Tasks in Linear Temporal Logic Specifications

This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task specification in the form of a Linear Temporal Logic (LTL). In this st…