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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  ...  temporal logic task specification.  ...  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

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

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.  ...  To evaluate this planning framework, dynamic simulations are conducted in a realistic hospital environment with a heterogeneous robot team consisting of quadrupeds and wheeled robots for delivery tasks  ...  planning under temporal logic specifications,” in 2021 IEEE International Conference on Robotics and Automation (  ... 
arXiv:2110.08436v3 fatcat:yv3cr6wbqzgsjjclclwr25hdai

Editorial: The Inaugural Issue of Unmanned Systems

Ben M. Chen, Lihua Xie, Siva Banda
2013 Unmanned Systems  
A networked multi-robot system can be capable in handling tasks that are much beyond the capabilities of each individual robot.  ...  The authors describe an agent-based software architecture, a temporal logic-based mission specification language, a distributed temporal planner and a task specification language that when integrated provide  ... 
doi:10.1142/s2301385013010012 fatcat:3h2rum5y4vhknmnbxkx4zlx4ka

On human models for collaborative robots

Rachid Alami
2013 2013 International Conference on Collaboration Technologies and Systems (CTS)  
We also would like to thank warmly a number of LAAS robotics team members and more particularly Severin Lemaignan, Matthieu Warnier, Julien Guitton, Emrak Akin Sisbot, Samir Alili, Xavier Broquere, Mokhtar  ...  Division FP7-IST under Contract ICT-287513.  ...  We have adopted a constructive approach based on effective individual and collaborative skills.  ... 
doi:10.1109/cts.2013.6567228 dblp:conf/cts/Alami13 fatcat:h7vwbu6vlzhp7n3fzug2qdzkpm

Automated Task Updates of Temporal Logic Specifications for Heterogeneous Robots [article]

Amy Fang, Hadas Kress-Gazit
2022 arXiv   pre-print
Given a heterogeneous group of robots executing a complex task represented in Linear Temporal Logic, and a new set of tasks for the group, we define the task update problem and propose a framework for  ...  automatically updating individual robot tasks given their respective existing tasks and capabilities.  ...  To increase the complexity of possible tasks, in recent years there has been a growing interest in multi-robot planning for task specifications written in temporal logics, which enables users to specify  ... 
arXiv:2204.05423v3 fatcat:7dkmjsm3vnajtdw5rzhq5bvvim

Decentralized leader-follower control under high level goals without explicit communication

Anastasios Tsiamis, Jana Tumova, Charalampos P. Bechlioulis, George C. Karras, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this paper, we study the decentralized control problem of a two-agent system under local goal specifications given as temporal logic formulas.  ...  The agents collaboratively carry an object in a leader-follower scheme and lack means to exchange messages on-line, i.e., to communicate explicitly.  ...  For the time being, we consider two robots collaboratively carrying an object in a leader-follower scheme. Their individual goal specifications are given as Linear Temporal Logic (LTL) formulas.  ... 
doi:10.1109/iros.2015.7354199 dblp:conf/iros/TsiamisTBKDK15 fatcat:gm4juaszcjgz7dhddulaedchmq

Linear Temporal Logic (LTL) Based Monitoring of Smart Manufacturing Systems

Gerald Heddy, Umer Huzaifa, Peter Beling, Yacov Haimes, Jeremy Marvel, Brian Weiss, Amy LaViers
2015 Proceedings of the Annual Conference of the Prognostics and Health Management Society, PHM  
This effort leverages supervisory robotic control and model checking with linear temporal logic (LTL), presenting them as a novel monitoring system for PHM.  ...  The vision of Smart Manufacturing Systems (SMS) includes collaborative robots that can adapt to a range of scenarios.  ...  Haimes served in the Office of Science and Technology Policy, Executive Office of the President, and on the United States House of Representatives Science and Technology Committee. Dr.  ... 
pmid:28730154 pmcid:PMC5514608 fatcat:kggg2wngkfebtdculyepxbwtgu

Modeling of Task Planning for Multirobot System Using Reputation Mechanism

Zhiguo Shi, Jun Tu, Yuankai Li, Junming Wei
2014 The Scientific World Journal  
Simulation and experiment results illustrate the effectiveness of the proposed method for multi-robot collaboration system.  ...  In the part of task allocation, the collaboration strategy, the framework of reputation mechanism, and three types of reputations are defined in detail, which include robot individual reputation, robot  ...  Linear temporal logic and automata have a close relationship, which can be directly exported from linear temporal logic formula, because every linear temporal logic formula consists of connectors and temporal  ... 
doi:10.1155/2014/818701 pmid:24672379 pmcid:PMC3932263 fatcat:fzjgxe5kfzahrbqptasbah47oy

Modelling resilient collaborative multi-agent systems

Inna Vistbakka, Elena Troubitsyna
2020 Computing  
Based on it, we introduce corresponding specification and refinement patterns in Event-B.  ...  Usually, as a result of reconfiguration, the existing relationships between agents are changed and new collaborations are established.  ...  When a robot detects that it is required to charge the battery, it halts the current task and, if it carries a box, leaves a box in a designated temporal storage area.  ... 
doi:10.1007/s00607-020-00861-2 fatcat:sblfs5pyyvhhbpb3hvwikvq6dq

Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints [article]

Shushman Choudhury, Jayesh K. Gupta, Mykel J. Kochenderfer, Dorsa Sadigh, Jeannette Bohg
2020 arXiv   pre-print
We present a multi-robot allocation algorithm that decouples the key computational challenges of sequential decision-making under uncertainty and multi-agent coordination and addresses them in a hierarchical  ...  The lower layer computes policies for individual agents using dynamic programming with tree search, and the upper layer resolves conflicts in individual plans to obtain a valid multi-agent allocation.  ...  Multi-Robot Task Allocation: We outline a number of domain-agnostic and domain-specific works on multi-robot task allocation.  ... 
arXiv:2005.13109v3 fatcat:i4huyil7ergojc37z5shg4lndi

A Review On Multi Robot Cooperation Using Bio Inspired Neural Networks

Poorva Agrawal, Himanshu Agrawal
2013 Zenodo  
and failure of the robots i.e. the multi robot systems must work well under robust environments.  ...  Though widely discussed, multi robot cooperation is a critical and a challenging issue in today's world.  ...  OPTIMIZATION OF PATH PLANNING Alphan Ulusoy et al. [3] have optimized path planning by using temporal logic constraints.  ... 
doi:10.5281/zenodo.1252095 fatcat:3xzhvxan6zefhetdlbwwuvl2dq

Cooperative Aerial-Ground Multi-Robot System for Automated Construction Tasks

Marko Krizmancic, Barbara Arbanas, Tamara Petrovic, Frano Petric, Stjepan Bogdan
2020 IEEE Robotics and Automation Letters  
In this paper, we study a cooperative aerial-ground robotic team and its application to the task of automated construction.  ...  We propose a solution for planning and coordinating the mission of constructing a wall with a predefined structure for a heterogeneous system consisting of one mobile robot and up to three unmanned aerial  ...  INTRODUCTION I N the field of robotics, the focus of the research is shifting increasingly from the design and control of single robots towards collaborative methods for multi-robot systems.  ... 
doi:10.1109/lra.2020.2965855 fatcat:qrauyvyk6fdybepfslwoijlzf4

Probabilistic Plan Synthesis for Coupled Multi-Agent Systems [article]

Alexandros Nikou, Jana Tumova, Dimos V. Dimarogonas
2017 arXiv   pre-print
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under the presence of uncertainties.  ...  Each agent may need to collaborate with other agents in order to achieve a task. The collaboration is imposed by sharing actions between the agents.  ...  To the best of the authors' knowledge this is the first work that addresses the cooperative task planning for multi-agent systems under probabilistic temporal logic specifications in the presence of dependencies  ... 
arXiv:1704.01432v2 fatcat:gjzk43zlsrh2joieig3kviutyu

A Generated Property Specification Language for Resilient Multirobot Missions [chapter]

Swaib Dragule, Bart Meyers, Patrizio Pelliccione
2017 Lecture Notes in Computer Science  
To harvest the full potential of robots, it must be possible to define missions for robots that are domain-specific, resilient, and collaborative.  ...  Currently, robot vendors provide low-level APIs to program such missions, making mission definition a task-specific and error-prone activity.  ...  In structured English grammar, the temporal specification is as follows: "Globally, it is always the case that a Robot performing a Task implies a Robot on a RelativeCoordinate with x as and y as and z  ... 
doi:10.1007/978-3-319-65948-0_4 fatcat:z4pmwf4tzzftpkxl6ou2paawzq
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