Multi-robot Deployment From LTL Specifications with Reduced Communication
Robotics
2011-08-17 v1 Systems and Control
Optimization and Control
Abstract
In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps: (i) the construction of finite abstractions for the motions of each robot, (ii) the parallel composition of the abstractions, (iii) the generation of a satisfying motion of the team; (iv) mapping this motion to individual robot control and communication strategies. The main result of the paper is an algorithm to reduce the amount of inter-robot communication during the fourth step of the procedure.
Keywords
Cite
@article{arxiv.1108.3240,
title = {Multi-robot Deployment From LTL Specifications with Reduced Communication},
author = {Marius Kloetzer and Xu Chu Ding and Calin Belta},
journal= {arXiv preprint arXiv:1108.3240},
year = {2011}
}
Comments
CDC 2011 Technical Report