Multi-robot planning : a timed automata approach

Quottrup, Michael Melholt; Bak, Thomas; Zamanabadi, R.I.

doi:10.1109/robot.2004.1302413

Cited by 100 publications

(61 citation statements)

References 13 publications

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“…Among the most known deterministic algorithms for planning are Dijkstra's and A * ; and several variants and extensions of these algorithms have been proposed (e.g., D * , or the jump point search) [3,7]. Path planning in multi-robot systems has been often tackled as an optimization problem focused on finding the shortest collision-free path [1,15,11,16]. Some of these works [1,15] included priorities to give precedence to some robots in case of conflicting access to space.…”

Section: Related Workmentioning

confidence: 99%

Scheduling Access to Shared Space in Multi-robot Systems

Khaluf

Markarian

Simoens

et al. 2017

Lecture Notes in Computer Science

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Abstract. Through this study, we introduce the idea of applying scheduling techniques to allocate spatial resources that are shared among multiple robots moving in a static environment and having temporal constraints on the arrival time to destinations. To illustrate this idea, we present an exemplified algorithm that plans and assigns a motion path to each robot. The considered problem is particularly challenging because: (i) the robots share the same environment and thus the planner must take into account overlapping paths which cannot happen at the same time; (ii) there are time deadlines thus the planner must deal with temporal constraints; (iii) new requests arrive without a priori knowledge thus the planner must be able to add new paths online and adjust old plans; (iv) the robot motion is subject to noise thus the planner must be reactive to adapt to online changes. We showcase the functioning of the proposed algorithm through a set of agent-based simulations.

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Section: Related Workmentioning

confidence: 99%

Scheduling Access to Shared Space in Multi-robot Systems

Khaluf

Markarian

Simoens

et al. 2017

Lecture Notes in Computer Science

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“…al. [12] has formulated the problem of coordination of networks of robots by using timed automata with motion specification expressed in Computation Tree Logic (CTL). Fainekos et al [13] have considered the problem of motion planning for a single, fully actuated robot in a polygonal environment in order to satisfy formulae expressed in Linear-time Temporal Logic (LTL).…”

Section: Introductionmentioning

confidence: 99%

“…The framework is extended from our previous works [10,12] to consider a more general problem setting on the environment, the robot dynamics and the system composition. We assume a regular tessellation has been used to partition the space of interest into a union of disjoint regular and equal cells with finite facets, and each cell can only be occupied by a robot or an obstacle.…”

Section: Introductionmentioning

confidence: 99%

A framework for multi-robot motion planning from temporal logic specifications

Koo

Quottrup

et al. 2012

Sci. China Inf. Sci.

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We propose a framework for the coordination of a network of robots with respect to formal requirement specifications expressed in temporal logics. A regular tessellation is used to partition the space of interest into a union of disjoint regular and equal cells with finite facets, and each cell can only be occupied by a robot or an obstacle. Each robot is assumed to be equipped with a finite collection of continuous-time nonlinear closed-loop dynamics to be operated in. The robot is then modeled as a hybrid automaton for capturing the finitely many modes of operation for either staying within the current cell or reaching an adjacent cell through the corresponding facet. By taking the motion capabilities into account, a bisimilar discrete abstraction of the hybrid automaton can be constructed. Having the two systems bisimilar, all properties that are expressible in temporal logics such as Linear-time Temporal Logic, Computation Tree Logic, and µ-calculus can be preserved. Motion planning can then be performed at a discrete level by considering the parallel composition of discrete abstractions of the robots with a requirement specification given in a suitable temporal logic. The bisimilarity ensures that the discrete planning solutions are executable by the robots. For demonstration purpose, a finite automaton is used as the abstraction and the requirement specification is expressed in Computation Tree Logic. The model checker Cadence SMV is used to generate coordinated verified motion planning solutions. Two autonomous aerial robots are used to demonstrate how the proposed framework may be applied to solve coordinated motion planning problems.

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“…The authors of [6] use Temporal Logic formulas to construct high-level motion tasks, while [7] presents a method to convert English language sentences, through Linear Temporal Logic specifications, into high-level motionplanning objectives. In [8], the UppAal model checker [9] was successfully employed to model and verify the operation of a group of holonomic agents under a simple control law. Current research trends in incorporating symbolic methods in robot motion planning are summed up by Belta et al in [10].…”

Section: Introductionmentioning

confidence: 99%

Coordination of multiple non-holonomic agents with input constraints

Oikonomopoulos

Loizou

Kyriakopoulos

2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-In this paper we present a multi-agent coordination algorithm suitable for systems with aircraft-like kinematic constraints. A model of a system of input-constrained nonholonomic agents is constructed, suitable for use with formal verification tools. The agents considered are uniform and have bounded velocities and limited turning capabilities. We demonstrate how a model checker can be used to generate a counterexample trace for such a system, usable as a trajectory that satisfies our safety and liveness requirements.

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Multi-robot planning : a timed automata approach

Cited by 100 publications

References 13 publications

Scheduling Access to Shared Space in Multi-robot Systems

Scheduling Access to Shared Space in Multi-robot Systems

A framework for multi-robot motion planning from temporal logic specifications

Coordination of multiple non-holonomic agents with input constraints

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