Robotic Swarm Control from Spatio-Temporal Specifications
Abstract
In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range of time varying and complex spatial configurations, and develop a method to encode such formal specifications as a set of mixed integer linear constraints, which are incorporated into a mixed integer linear programming problem. We plan trajectories for each individual robot such that the whole swarm satisfies the spatio-temporal requirements, while optimizing total robot movement and/or a metric that shows how strongly the swarm trajectory resembles given spatio-temporal behaviors. An illustrative case study is included.
Cite
@article{arxiv.1609.06283,
title = {Robotic Swarm Control from Spatio-Temporal Specifications},
author = {Iman Haghighi and Sadra Sadraddini and Calin Belta},
journal= {arXiv preprint arXiv:1609.06283},
year = {2016}
}
Comments
A shorter version of this paper is going to be published at the proceedings of the 55th international conference on decision and control (CDC 2016)