Motion planning with applications to air traffic management

This report introduces a new algorithm to incorporate robot temporal goal specifications in real-time air traffic management. The approach is inspired by current robot motion planning theories including Probabilistic Roadmap and Rapidly-exploring Random Tree, as well as the cutting-edge model checki...

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Main Author: Chen, Shijian
Other Authors: Pham Quang Cuong
Format: Final Year Project
Language:English
Published: 2017
Subjects:
Online Access:http://hdl.handle.net/10356/72930
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-729302023-03-04T19:38:05Z Motion planning with applications to air traffic management Chen, Shijian Pham Quang Cuong School of Mechanical and Aerospace Engineering Robotics Research Centre Air Traffic Management Research Institute DRNTU::Engineering This report introduces a new algorithm to incorporate robot temporal goal specifications in real-time air traffic management. The approach is inspired by current robot motion planning theories including Probabilistic Roadmap and Rapidly-exploring Random Tree, as well as the cutting-edge model checking methods such as product automaton verifications. The core component of the algorithm lies in the temporal planner. It allows the air traffic controller to pre-specify a set of intermediate goals or milestones for both single and multiple aircrafts. These specified commands expressed in standard Linear Temporal Logic(LTL) formula will then be translated into a standard automaton for model checking purposes. Subsequently, aircraft trajectories can be generated to fulfil pre-specified missions accordingly based on the shortest path search results in the product automaton map. In particular, demonstrations show that a 5-aircraft decoupled planning problem with different individual specifications can be resolved within 0.9 seconds, while 1-aircraft decoupled planning problem can be resolved within 0.3 seconds. The coupled planner is also successful in resolving the joint planning for 2 aircrafts with a composite LTL formula specification. The proposed algorithm can be used for all series of motions as long as the specification is in standard LTL format. It helps to address planning issues especially with a time sequence of multiple goals. As long as a solution exists, our approach guarantees to generate a corresponding optimal path which satisfies the prescribed LTL formula for both individual and multiple robot planning cases. Bachelor of Engineering (Aerospace Engineering) 2017-12-13T04:24:32Z 2017-12-13T04:24:32Z 2017 Final Year Project (FYP) http://hdl.handle.net/10356/72930 en Nanyang Technological University 66 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering
spellingShingle DRNTU::Engineering
Chen, Shijian
Motion planning with applications to air traffic management
description This report introduces a new algorithm to incorporate robot temporal goal specifications in real-time air traffic management. The approach is inspired by current robot motion planning theories including Probabilistic Roadmap and Rapidly-exploring Random Tree, as well as the cutting-edge model checking methods such as product automaton verifications. The core component of the algorithm lies in the temporal planner. It allows the air traffic controller to pre-specify a set of intermediate goals or milestones for both single and multiple aircrafts. These specified commands expressed in standard Linear Temporal Logic(LTL) formula will then be translated into a standard automaton for model checking purposes. Subsequently, aircraft trajectories can be generated to fulfil pre-specified missions accordingly based on the shortest path search results in the product automaton map. In particular, demonstrations show that a 5-aircraft decoupled planning problem with different individual specifications can be resolved within 0.9 seconds, while 1-aircraft decoupled planning problem can be resolved within 0.3 seconds. The coupled planner is also successful in resolving the joint planning for 2 aircrafts with a composite LTL formula specification. The proposed algorithm can be used for all series of motions as long as the specification is in standard LTL format. It helps to address planning issues especially with a time sequence of multiple goals. As long as a solution exists, our approach guarantees to generate a corresponding optimal path which satisfies the prescribed LTL formula for both individual and multiple robot planning cases.
author2 Pham Quang Cuong
author_facet Pham Quang Cuong
Chen, Shijian
format Final Year Project
author Chen, Shijian
author_sort Chen, Shijian
title Motion planning with applications to air traffic management
title_short Motion planning with applications to air traffic management
title_full Motion planning with applications to air traffic management
title_fullStr Motion planning with applications to air traffic management
title_full_unstemmed Motion planning with applications to air traffic management
title_sort motion planning with applications to air traffic management
publishDate 2017
url http://hdl.handle.net/10356/72930
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