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Translating Structured English to Robot Controllers

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Abstract:

Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its close relationship with fragments of natural language. In this paper, we take the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain. For this purpose, we built a structured English language which maps directly to a fragment of LTL.

Keywords: MOTION PLANNING; STRUCTURED ENGLISH; TASK PLANNING; TEMPORAL LOGIC

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855308X344864

Affiliations: GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA

Publication date: October 1, 2008

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