ltl_automaton_core

Overview

This metapackage provides an implementation of a LTL (Linear Temporal Logic) planner based on automaton graph. More information can be found on the wiki or in each package documentation.

Publication

R. Baran, X. Tan, P. Varnai, P. Yu, S. Ahlberg, M. Guo, W. Shaw Cortez, and D. V. Dimarogonas, "A ROS Package for Human-In-the-Loop Planning and Control under Linear Temporal Logic Tasks", presented at the IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021. To cite this work:

@INPROCEEDINGS{9551648,
  author={Baran, Robin and Tan, Xiao and Varnai, Peter and Yu, Pian and Ahlberg, Sofie and Guo, Meng and Cortez, Wenceslao Shaw and Dimarogonas, Dimos V.},
  booktitle={2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)}, 
  title={A ROS Package for Human-In-the-Loop Planning and Control under Linear Temporal Logic Tasks}, 
  year={2021},
  volume={},
  number={},
  pages={2182-2187},
  doi={10.1109/CASE49439.2021.9551648}}

Installation

Dependencies

• Robot Operating System (ROS)(duh), package tested on Kinetic, Melodic and Morenia distributions

• LTL2BA. ROS package wrapping for the LTL2BA software by Dennis Oddoux and Paul Gastin.

  • Clone the repository from Github in your catkin workspace:

  cd catkin_ws/src
  git clone https://github.com/KTH-DHSG/ros_ltl2ba
  

  • Build your workspace with your prefered tool: cd .. catkin_make or catkin build

• PLY (Python Lex-Yacc)

  • For Python2 (ROS Kinetic & Melodic): pip install ply
  • For Python3 (ROS Morenia): pip3 install ply

• NetworkX. Software for complex networks analysis in Python.

  • For Python2 (ROS Kinetic & Melodic): pip install networkx
  • For Python3 (ROS Morenia): pip3 install networkx

• PyYAML. Should be integrated with ROS but it's better to check if version is up-to-date.

  • For Python2 (ROS Kinetic & Melodic): pip install pyyaml
  • For Python3 (ROS Morenia): pip3 install pyyaml

Building

To build the package, clone the current repository in your catkin workspace and build it.

cd catkin_ws/src
git clone https://github.com/KTH-SML/ltl_automaton_core.git

Build your workspace with either catkin_make or catkin build

cd ...
catkin_make

Usage

This package is not meant to be used on its own. It provides an LTL planner node that can be interfaced with an external agent package. Nevertheless an example launch file can be run using the following command:

roslaunch ltl_automaton_planner ltl_planner_example.launch

It will launch a planner using the formula provided by the config file ltl_automaton_planner/config/example_ltl_formula and using the transition system specified in ltl_automaton_planner/config/example_ts.

Packages

This metapackage is composed of the following packages.

• ltl_automaton_planner: Provides the LTL planner node. The node uses a transition system and a LTL formula to generate a plan and action sequence, and update them according to agent state.

• ltl_automaton_msgs: A message definition packages for the LTL automaton packages.

• ltl_automaton_std_transition_systems: A set of state monitors for standard transition systems (2D regions, ...).

• ltl_automaton_hil_mic: An implementation of a Human-In-the-Loop mix initiative controller for agents using the LTL planner.