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Hierarchical Multi-robot Strategies Synthesis and Optimization under Individual and Collaborative Temporal Logic Specifications [article]

Ruofei Bai, Ronghao Zheng, Yang Xu, Meiqin Liu, Senlin Zhang
2021 arXiv   pre-print
We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task specification, both described in linear temporal logic.  ...  This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem.  ...  Conclusions and Future Work In this paper, we propose a hierarchical task planning framework that can efficiently coordinate multiple robots under individual and collaborative temporal logic specifications  ... 
arXiv:2110.11162v1 fatcat:vzwyvkljevechfnlhvlyms5wji

Multi-Robot Task Planning under Individual and Collaborative Temporal Logic Specifications [article]

Ruofei Bai, Ronghao Zheng, Meiqin Liu, Senlin Zhang
2021 arXiv   pre-print
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative  ...  To efficiently generate feasible and optimized task execution plans for the robots, we propose a hierarchical multi-robot temporal task planning framework, in which a central server allocates the collaborative  ...  Related Works Existing studies in multi-robot task planning under temporal logic constraints fall into two categories: the top-down and the bottom-up pattern.  ... 
arXiv:2108.11597v2 fatcat:247o4ybvajahlnoggkdyat7gde

Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robots [article]

Ziyi Zhou, Dong Jae Lee, Yuki Yoshinaga, Stephen Balakirsky, Dejun Guo, Ye Zhao
2022 arXiv   pre-print
This paper takes the first step towards a reactive, hierarchical multi-robot task allocation and planning framework given a global Linear Temporal Logic specification.  ...  The capabilities of both quadrupedal and wheeled robots are leveraged via a heterogeneous team to accomplish a variety of navigation and delivery tasks.  ...  Zavlanos, “Stylus*: A temporal logic optimal control the entire team model with an updated specification, which is synthesis algorithm for large-scale multi-robot systems,” The  ... 
arXiv:2110.08436v3 fatcat:yv3cr6wbqzgsjjclclwr25hdai

AN ANALYSIS OF DIFFERENT FORMS OF INTELLIGENCE WITHIN ORGANIZATIONS

Vasile Mazilescu, Ludmila Daniela Manea
2015 Risk in Contemporary Economy  
specific knowledge in the field, which is, according to the approach presented in this paper, the conceptual basis of Intelligent Systems in Economy (ISE).  ...  Intelligent Framework at Organizational Level based on Operational Knowledge) stressing especially the connection between distributed AI (the key element of semantic technology), collective intelligence and  ...  Reasoning under real-time restrictions has specific characteristics: real-time operation often involves temporal reasoning.  ... 
doaj:9252a770a574409ab0dd9f59dcb533b7 fatcat:hfff6a4znzbr3mb3oagvzzztue

Application of Modern Information Technologies in the Formation of Collective Design Competencies on the Example of Group Management of Heterogeneous Robots

Irina K. Romanova, Y.I. Dimitrienko, E.N. Grigorieva
2020 ITM Web of Conferences  
A connection is established between the features of the ongoing project of group control of robots and the formation of in-depth competencies in the training of specialists in robotics and mechatronics  ...  robots in two versions, suitable for use both for educational purposes to form team design competencies and for real projects.  ...  A compromise is required between two possibly competing goals: achieving optimal performance to meet the limitations of temporal logic and minimizing human effort.  ... 
doi:10.1051/itmconf/20203504019 fatcat:l4ugo7oogbbajjw4q4newpdsa4

Decomposition of Multi-Agent Planning under Distributed Motion and Task LTL Specifications [article]

Jana Tumova, Dimos V. Dimarogonas
2016 arXiv   pre-print
The aim of this work is to introduce an efficient procedure for discrete multi-agent planning under local complex temporal logic behavior specifications.  ...  be provided along the trace and may impose requests for the other agents' collaborations.  ...  Multi-agent planning from temporal logic specification has been explored in several recent works. Planning for a team of robots from a global LTL specification was addressed, e.g., in [10] , [12] .  ... 
arXiv:1610.08379v1 fatcat:yzpbsh4x7re3fjjxzr7xtfhdqu

Distributed Mission Planning of Complex Tasks for Heterogeneous Multi-Robot Teams [article]

Barbara Arbanas Ferreira, Tamara Petrović, Stjepan Bogdan
2021 arXiv   pre-print
In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams.  ...  The method is evaluated in a simulation setup of an automated greenhouse use case, where we demonstrate the method's ability to adapt the planning strategy depending on the available robots and the given  ...  Complex tasks are specified as loosely coupled tasks connected by the logical operators AND and OR, similar to our mission specification.  ... 
arXiv:2109.10106v1 fatcat:naikx3o72rgwxnvlz2cbdo3qyi

A hierarchical approach to automatic deployment of robotic teams with communication constraints

Yushan Chen, S Birch, A Stefanescu, C Belta
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
, (3) a team of robots and their capacities to service the requests individually or through collaboration, FIND robot control and communication strategies guaranteeing the correct servicing of the requests  ...  robot motion and service plans, which are then mapped to control and communication strategies.  ...  SYNTHESIS OF INDIVIDUAL STRATEGIES A.  ... 
doi:10.1109/iros.2010.5650644 dblp:conf/iros/ChenBSB10 fatcat:35yscaywm5bjtj2urtbe5qczsu

Cooperative task planning of multi-agent systems under timed temporal specifications

Alexandros Nikou, Jana Tumova, Dimos V. Dimarogonas
2016 2016 American Control Conference (ACC)  
We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a method for automatic control synthesis in a twostage systematic procedure.  ...  With this method we guarantee that all the agents satisfy their own individual task specifications as well as that the team satisfies a team global task specification.  ...  To the best of the authors' knowledge this is the first work that address the cooperative task planning for multi-agent systems under individual and global timed linear temporal logic specifications.  ... 
doi:10.1109/acc.2016.7526793 dblp:conf/amcc/NikouTD16 fatcat:v53c2cvwx5ckzihuc6754acpim

Cooperative Task Planning of Multi-Agent Systems Under Timed Temporal Specifications [article]

Alexandros Nikou and Jana Tumova and Dimos V. Dimarogonas
2015 arXiv   pre-print
We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a method for automatic control synthesis in a two-stage systematic procedure.  ...  With this method we guarantee that all the agents satisfy their own individual task specifications as well as that the team satisfies a team global task specification.  ...  To the best of the authors' knowledge this is the first work that address the cooperative task planning for multi-agent systems under individual and global timed linear temporal logic specifications.  ... 
arXiv:1509.09137v1 fatcat:qv5acn5xsnfuvitaqdlffiez74

Software Engineering for Intelligent and Autonomous Systems: Report from the GI Dagstuhl Seminar 18343 [article]

Simos Gerasimou, Thomas Vogel, Ada Diaconescu
2019 arXiv   pre-print
This report summarises the research carried out during SEfIAS GI Dagstuhl seminar which provided a forum for strengthening interaction and collaboration for early-career researchers and practitioners from  ...  the research communities of SEAMS, ICAC/ICCAC, SASO, Self-Aware Computing and AAMAS.  ...  , and strategies for modeling systems and optimization points.  ... 
arXiv:1904.01518v2 fatcat:inddhdemafdyljubjjq7fv6xvu

A Receding Horizon Approach to Multi-Agent Planning from Local LTL Specifications [article]

Jana Tumova, Dimos V. Dimarogonas
2014 arXiv   pre-print
A traditional automata-based approach to multi-agent strategy synthesis from such specifications builds on centralized planning for the whole team and thus suffers from extreme computational demands.  ...  Particularly, we consider that the task specification takes a form of a linear temporal logic formula, which may contain requirements and constraints on the other agent's behavior.  ...  Multi-agent planning from temporal logic specification has been explored in several recent works.  ... 
arXiv:1403.4174v1 fatcat:l6a2okjsojdtda72c6mpi227qu

Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments [article]

Ye Zhao and Yinan Li and Luis Sentis and Ufuk Topcu and Jun Liu
2022 arXiv   pre-print
At the high level, we formulate a two-player temporal logic game between the multi-limb locomotion planner and its dynamic environment to synthesize a winning strategy that delivers symbolic locomotion  ...  These locomotion actions satisfy the desired high-level task specifications expressed in a fragment of temporal logic.  ...  Contact switching planner synthesis problem: Given a switched system SS in Eq. (6) and a specification ϕ expressible in the linear temporal logic (LTL) form, synthesize a contact planning strategy for  ... 
arXiv:1811.04333v2 fatcat:nop5zlwfbjcffcnmfhb3okgfpe

Current advancements on autonomous mission planning and management systems: An AUV and UAV perspective

Adham Atyabi, Somaiyeh MahmoudZadeh, Samia Nefti-Meziani
2018 Annual Reviews in Control  
The paper separately explains the humanoid and autonomous system's performance and highlights the role and impact of a human in UVs operations.  ...  Advances in hardware technology have enabled more integration of sophisticated software, triggering progress in the development and employment of Unmanned Vehicles (UVs), and mitigating restraints for  ...  The architecture incorporates four components of: a mission specification language based on Temporal Action Logic (TAL); a distributed structure based on Task Specification Trees (TSTs) that is utilized  ... 
doi:10.1016/j.arcontrol.2018.07.002 fatcat:fq5q25mqgjhczjtojlganzrmue

Verified Synthesis of Optimal Safety Controllers for Human-Robot Collaboration [article]

Mario Gleirscher, Radu Calinescu, James Douthwaite, Benjamin Lesage, Colin Paterson, Jonathan Aitken, Rob Alexander, James Law
2021 arXiv   pre-print
collaborative robots.  ...  We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use  ...  This research has received funding from the Assuring Autonomy International Programme (AAIP grant CSI: Cobot), a partnership between Lloyd's Register Foundation and the University of York, and from the  ... 
arXiv:2106.06604v1 fatcat:jxvovhkceveybmn4xgo5ei4kxi
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