  In this paper, we present an optimization based method for path planning of a
mobile robot subject to time bounded temporal constraints, in a dynamic
environment. Temporal logic (TL) can address very complex task specification
such as safety, coverage, motion sequencing etc. We use metric temporal logic
(MTL) to encode the task specifications with timing constraints. We then
translate the MTL formulae into mixed integer linear constraints and solve the
associated optimization problem using a mixed integer linear program solver.
This approach is different from the automata based methods which generate a
finite abstraction of the environment and dynamics, and use an automata
theoretic approach to formally generate a path that satisfies the TL. We have
applied our approach on several case studies in complex dynamical environments
subjected to timed temporal specifications.
