Iterative temporal motion planning for hybrid systems in partially unknown environments

This paper considers the problem of motion planning for a hybrid robotic system with complex and nonlinear dynamics in a partially unknown environment given a temporal logic specification. We employ a multi-layered synergistic frame-work that can deal with general robot dynamics and combine it with an iterative planning strategy. Our work allows us to deal with the unknown environmental restrictions only when they are discovered and without the need to repeat the computation that is related to the temporal logic spec-ification. In addition, we define a metric for satisfaction of a specification. We use this metric to plan a trajectory that satisfies the specification as closely as possible in cases in which the discovered constraint in the environment renders the specification unsatisfiable. We demonstrate the efficacy of our framework on a simulation of a hybrid second-order car-like robot moving in an office environment with unknown obstacles. The results show that our framework is successful in generating a trajectory whose satisfaction measure of the specification is optimal. They also show that, when new ob-stacles are discovered, the reinitialization of our framework is computationally inexpensive