Multi-robot deployment from LTL specifications with reduced communication
Multi-robot deployment from LTL specifications with reduced communication
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DOI：
10.1109/cdc.2011.6160478
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发表时间：
2011-08
期刊：
影响因子：
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通讯作者：
Marius Kloetzer;X. Ding;C. Belta
中科院分区：
文献类型：
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作者：
Marius Kloetzer;X. Ding;C. Belta
在本文中，我们开发了一个计算框架，一个团队的独轮车从一个全球性的规范作为一个LTL公式在一些地区的利益全自动部署。我们的分层方法由四个步骤组成：（i）每个机器人的运动的有限抽象的建设，（ii）的抽象的并行组成，（iii）一个令人满意的运动的团队的生成;（iv）将此运动映射到个人机器人控制和通信策略。本文的主要结果是一种算法，以减少在第四步的过程中的机器人间的通信量。
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.