Temporal logic formula generation device, temporal logic formula generation method, and storage medium

A temporal logic formula generation method comprising:

• acquiring object-to-object relation information representing relations between objects in a target state relating to a task of a robot with an end effector, wherein the objects include the end effector, a target object of operation by the end effector, and a reference object defined as a reference coordinate system, and wherein the relations include a first relation between a first pair of the end effector and the target object and a second relation between a second pair of the reference object and the target object;
• generating, based on the object-to-object relation information, target relation logical formulas that are temporal logic formulas representing the first relation and the second relation in the target state;
• generating an integrated temporal logic formula into which the target relation logical formulas are integrated;
• and
• generating a control command for the robot based on a target trajectory of the robot generated based on the integrated temporal logic formula.

A non-transitory computer readable storage medium storing a program executed by a computer, the program causing the computer to:

• acquire object-to-object relation information representing relations between objects in a target state relating to a task of a robot with an end effector, wherein the objects include the end effector, a target object of operation by the end effector, and a reference object defined as a reference coordinate system, and wherein the relations include a first relation between a first pair of the end effector and the target object and a second relation between a second pair of the reference object and the target object;
• generate, based on the object-to-object relation information, target relation logical formulas that are temporal logic formulas representing the first relation and the second relation in the target state;
• generate an integrated temporal logic formula into which the target relation logical formulas are integrated;
• and
• generate a control command for the robot based on a target trajectory of the robot generated based on the integrated temporal logic formula.