Robotics paper index
Control Synthesis against LTL Specifications with Long-Run Visit Proportion Objectives
One-line summary
A robotics research paper on Control Synthesis against LTL Specifications with Long-Run Visit Proportion Objectives.
Engineering notes
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Chinese explanation / 中文解读
中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
This paper investigates the path-planning problem for systems required to satisfy a linear temporal logic (LTL) specification while achieving a desired long-run visit proportion. For a path represented in prefix-suffix structure, the long-run visit proportion quantifies the asymptotic occurrence proportion of an atomic proposition sequence of interest in the suffix trace. Such a quantitative requirement generally cannot be expressed by standard LTL specifications. Furthermore, we develop a planning approach that synthesizes an LTL-satisfying path whose long-run visit proportion remains within a prescribed tolerance of a desired value while satisfying an overall cost constraint. By adjusting the desired proportion, the synthesized path can allocate more or less long-run attention to the atomic proposition sequence of interest, thereby improving the flexibility and efficiency of the task execution. Finally, experiments on a quadruped robot demonstrate the practical significance of the proposed long-run visit proportion and the effectiveness of the proposed planning approach.
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