Robotic swarm control from spatio-temporal specifications
Robotic swarm control from spatio-temporal specifications
复制标题
从时空规范进行机器人群体控制
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
C. Belta
中科院分区：
文献类型：
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作者：
I. Haghighi;Sadra Sadraddini;C. Belta
在本文中，我们研究的问题，控制一个二维机器人群体的目的是实现高层次和复杂的时空模式。我们使用一个丰富的时空逻辑，能够描述广泛的时变和复杂的空间配置，并开发一种方法来编码这样的正式规格作为一组混合整数线性约束，这是纳入一个混合整数线性规划问题。我们为每个单独的机器人规划轨迹，使整个群满足时空要求，同时优化总的机器人运动和/或度量，显示如何强烈的群轨迹类似于给定的时空行为。包括一个说明性的案例研究。
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.