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Home / Proceedings / Proceedings of the International Conference on Automated Planning and Scheduling, 31 / Book One

Temporal Reasoning with Kinodynamic Networks

February 1, 2023

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Authors

Han Zhang

University of Southern California


Neelesh Tiruviluamala

University of Southern California


Sven Koenig

University of Southern California


T. K. Satish Kumar

University of Southern California


DOI:

10.1609/icaps.v31i1.15987


Abstract:

Temporal reasoning is central to Artificial Intelligence (AI) and many of its applications. However, the existing algorithmic frameworks for temporal reasoning are not expressive enough to be applicable to robots with complex kinodynamic constraints typically described using differential equations. For example, while minimum and maximum velocity constraints can be encoded in Simple Temporal Networks (STNs), higher-order kinodynamic constraints cannot be represented in existing frameworks. In this paper, we present a novel framework for temporal reasoning called Kinodynamic Networks (KDNs). KDNs combine elements of existing temporal reasoning frameworks with the idea of Bernstein polynomials. The velocity profiles of robots are represented using Bernstein polynomials; and dynamic constraints on these velocity profiles can be converted to linear constraints on the to-be-determined coefficients of their Bernstein polynomials. We study KDNs for their attractive theoretical properties and apply them to the Multi-Agent Path Finding (MAPF) problem with higher-order kinodynamic constraints. We show that our approach is not only scalable but also yields smooth velocity profiles for all robots that can be executed by their controllers.

Topics: ICAPS

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HOW TO CITE:

Han Zhang||Neelesh Tiruviluamala||Sven Koenig||T. K. Satish Kumar Temporal Reasoning with Kinodynamic Networks Proceedings of the International Conference on Automated Planning and Scheduling, 31 (2021) 415-425.

Han Zhang||Neelesh Tiruviluamala||Sven Koenig||T. K. Satish Kumar Temporal Reasoning with Kinodynamic Networks ICAPS 2021, 415-425.

Han Zhang||Neelesh Tiruviluamala||Sven Koenig||T. K. Satish Kumar (2021). Temporal Reasoning with Kinodynamic Networks. Proceedings of the International Conference on Automated Planning and Scheduling, 31, 415-425.

Han Zhang||Neelesh Tiruviluamala||Sven Koenig||T. K. Satish Kumar. Temporal Reasoning with Kinodynamic Networks. Proceedings of the International Conference on Automated Planning and Scheduling, 31 2021 p.415-425.

Han Zhang||Neelesh Tiruviluamala||Sven Koenig||T. K. Satish Kumar. 2021. Temporal Reasoning with Kinodynamic Networks. "Proceedings of the International Conference on Automated Planning and Scheduling, 31". 415-425.

Han Zhang||Neelesh Tiruviluamala||Sven Koenig||T. K. Satish Kumar. (2021) "Temporal Reasoning with Kinodynamic Networks", Proceedings of the International Conference on Automated Planning and Scheduling, 31, p.415-425

Han Zhang||Neelesh Tiruviluamala||Sven Koenig||T. K. Satish Kumar, "Temporal Reasoning with Kinodynamic Networks", ICAPS, p.415-425, 2021.

Han Zhang||Neelesh Tiruviluamala||Sven Koenig||T. K. Satish Kumar. "Temporal Reasoning with Kinodynamic Networks". Proceedings of the International Conference on Automated Planning and Scheduling, 31, 2021, p.415-425.

Han Zhang||Neelesh Tiruviluamala||Sven Koenig||T. K. Satish Kumar. "Temporal Reasoning with Kinodynamic Networks". Proceedings of the International Conference on Automated Planning and Scheduling, 31, (2021): 415-425.

Han Zhang||Neelesh Tiruviluamala||Sven Koenig||T. K. Satish Kumar. Temporal Reasoning with Kinodynamic Networks. ICAPS[Internet]. 2021[cited 2023]; 415-425.


ISSN: 2334-0843


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Copyright 2022, Association for the Advancement of
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