State-Estimation-Aware Planning for Autonomous Systems with Temporal Logic Specifications

High-level planning algorithms are used for the trajectory design of dynamical systems, and some of these algorithms can even accommodate temporal logic specifications that can en code rich and complex missions. However, existing planning algorithms typically do not take into account any aspects related to the quality/accuracy of state estimation, which is strongly influenced by the trajectory of the system. In this study, we propose a novel formulation for high-level planning under temporal logic specifications. We introduce trajectory-depend entmetrics to quantify the quality of measurement and state estimation. We use these metrics in an optimal control problem, where the goal is to generate trajectories that are designed under the consideration of state estimation quality and the satisfaction of the temporal logic specification. We demonstrate that the resulting trajectories via the proposed formulation are more track able than the ones generated by the standard planning algorithms.