Online Motion Planning with Soft Metric Interval Temporal Logic in Unknown Dynamic Environment

Motion planning of an autonomous system with high-level specifications has wide applications. However, research formal languages involving timed temporal logic is still under investigation. Challenges arise when the operating environment dynamic and unknown since can be found prohibitive, leading to potentially conflicting tasks where pre-specified missions cannot fully satisfied. Such issues become even more challenging considering time-bound requirements. This letter proposes a control framework address these challenges, hard constraints enforce safety requirements soft enable task relaxation. The metric interval (MITL) are employed deal time constraints. By constructing relaxed product automaton, online motion strategy synthesized receding horizon controller generate policies, achieving multiple objectives in decreasing order priority 1) formally guarantee satisfaction constraints; 2) mostly fulfill tasks; 3) collect time-varying rewards as much possible. Simulation results provided validate proposed approach.