Motion planning in multi-robot systems using timed automata

Andersen, Michael Skipper; Jensen, Rune Strøm; Bak, Thomas; Quottrup, Michael Melholt

doi:10.1016/s1474-6670(17)32043-8

Cited by 10 publications

(7 citation statements)

References 4 publications

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“…The main procedures of ENFORCE are discussed in the following. These procedures are inspired by the one proposed by Quottrup et al [44] and Andersen et al [8], which are well-known TA approaches for solving the planning problem in the robotic domain.…”

Section: Methodsmentioning

confidence: 99%

“…In LTL, one can express that an event B follows an event A, [8] TCTL Uppaal [35] CTL C-SMV [49] LTL [27] LTL [46] LTL [32] LTL [12] LTL [33] LTL [34] LTL [47] LTL [29] LTL [21] LTL Matlab [25,28,39,48] LTL Matlab [13,26] LTL Matlab [43] MTL [52] MTL CPLEX [42] MTL Matlab but it is not possible to limit the time interval between the two events by imposing, for instance, that the delay is smaller than 5 time units. Therefore, a number of authors [8,43,44] have recently considered formalisms that allow for expressing explicit time constraints, such as Metric Temporal Logic (MTL) [36], or Timed Computation Tree Logic (TCTL) [6]. However, some of these works are mostly theoretical, some of them do not explicitly consider how robots synchronize and perform actions, and usually they are not validated on real maps but consider small environment abstractions (usually represented through small-size matrices of cells representing locations of the environment).…”

Section: F1 -Expressing Explicit Time Concerns In Robotic Missionsmentioning

confidence: 99%

“…To implement our approach, we use the Uppaal [37] model checking tool, since it can be used to realize mission planning that features F1-F4. We rely on existing robotic techniques [8,44] to represent the area in which the robots are operating as a tiling of the plane with squared cells. The area is modeled, with various precision levels, using Timed Automata (TA), i.e., the input modeling formalism of Uppaal.…”

Section: Introductionmentioning

confidence: 99%

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Mind the gap

Askarpour

Menghi²,

Belli

et al. 2020

Proceedings of the 8th International Conference on Formal Methods in Software Engineering

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In the context of robotic software, the selection of an appropriate planner is one of the most crucial software engineering decisions. Robot planners aim at computing plans (i.e., blueprint of actions) to accomplish a complex mission. While many planners have been proposed in the robotics literature, they are usually evaluated on showcase examples, making hard to understand whether they can be effectively (re)used for realising complex missions, with heterogeneous robots, and in real-world scenarios. In this paper we propose ENFORCE, a framework which allows wrapping FM-based planners into comprehensive software engineering tools, and considers complex robotic missions. ENFORCE relies on (i) realistic maps (e.g, fire escape maps) that describe the environment in which the robots are deployed; (ii) temporal logic for mission specification; and (iii) Uppaal model checker to compute plans that satisfy mission specifications. We evaluated ENFORCE by analyzing how it supports computing plans in real case scenarios, and by evaluating the generated plans in simulated and real environments. The results show that while ENFORCE is adequate for handling single-robot applications, the state explosion still represents a major barrier for reusing existing planners in multi-robot applications.

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Section: Methodsmentioning

confidence: 99%

Section: F1 -Expressing Explicit Time Concerns In Robotic Missionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Mind the gap

Askarpour

Menghi²,

Belli

et al. 2020

Proceedings of the 8th International Conference on Formal Methods in Software Engineering

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“…The mission was given in LTL and the goal was the minimization of a cost function that captures the maximum time between successive satisfactions of the formula. Authors in [18], [19] used a different approach, representing the motion of each agent in the environment with a timed automaton. The composition of the team automaton was achieved through synchronization and the UPPAAL verification tool ( [20]) was utilized for specifications given in Computational Tree Logic (CTL).…”

Section: Introductionmentioning

confidence: 99%

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

Νίκου

Tůmová

Dimarogonas

2016

2016 American Control Conference (ACC)

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In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. 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.

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“…Most of the work found on the literature concerning the design of robotic tasks using Discrete Event Systems (DES) is based on FSA for code generation [3], qualitative specifications [4], some quantitative specifications [5], modularisation [4] and even to model multi-robot systems [6], [8]. Work using Petri nets to design robotic tasks under temporal requirements, focusing also on the generation of real-time, error-free code can be found in [9].…”

Section: Introductionmentioning

confidence: 99%

Modelling, analysis and execution of robotic tasks using petri nets

Costelha

Lima

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper introduces Petri net based models of robotic tasks, which can be used to analyse and synthesise task plans, taking into account a Petri net model that abstracts the relevant features from the robot environment as well. Logical analysis concerning deadlocks and resource conservation can be performed over the ordinary version of the model. A task plan modeled by a Petri net can be extracted from the generalised stochastic version of the model, representing the optimal plan given a probabilistic measure of uncertainty associated to the effects of its composing actions. The Petri net representing the model is suitable for being ran directly within the code, as well as for plan monitoring during execution time. Simulation results illustrating the methodology are presented for a robotic soccer scenario.

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Motion planning in multi-robot systems using timed automata

Cited by 10 publications

References 4 publications

Mind the gap

Mind the gap

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

Modelling, analysis and execution of robotic tasks using petri nets

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