Information processing device, control method, and storage medium

An information processing device comprising a memory storing a program and a processor configured to execute the program to:

• acquire a task logical expression in which an objective task to be performed by a robot is expressed as a combination of a plurality of tasks;
• convert a logical conjunction included in the task logical expression into an addition operator;
• convert a logical disjunction included in the task logical expression into a multiplication operator;
• perform sampling of one potential function from among a plurality of potential functions that are synthesizable atomic potential functions and that correspond to the tasks;
• calculate, on a basis of the one potential function, an approximate artificial force field that approximates an artificial force field yielded when the synthesizable atomic potential functions are synthesized according to the task logical expression;
• and
• output the approximate artificial force field.

A control method performed by an information processing device and comprising:

• acquiring a task logical expression in which an objective task to be performed by a robot is expressed by a combination of a plurality of tasks;
• converting a logical conjunction included in the task logical expression into an addition operator;
• converting a logical disjunction included in the task logical expression into a multiplication operator;
• performing sampling of one potential function from among a plurality of potential functions that are synthesizable atomic potential functions and that correspond to the tasks;
• calculating, on a basis of the one potential function, an approximate artificial force field that approximates an artificial force field yielded when the synthesizable atomic potential functions are synthesized according to the task logical expression;
• and
• outputting the approximate artificial force field.