NDLI: Reactive switching protocols for multi-robot high-level tasks

Content Provider	IEEE Xplore Digital Library
Author	Raman, V.
Copyright Year	2014
Description	Author affiliation: California Inst. of Technol., Pasadena, CA, USA (Raman, V.)
Abstract	This paper considers a team of cooperative, homogeneous robots operating in a nondeterministic environment, performing complex high-level tasks. We concurrently solve the problems of dynamic task assignment and reactive planning in a centralized fashion, allowing goal reassignment as needed in response to changes in the environment. To this end, we model the team of robots as a switched system whose various modes must be activated to satisfy high-level specifications, and describe a formal framework for synthesizing switching protocols for this system. The robots' continuous dynamics under a specific task allocation, as well as their operating environment, are encoded as formulas on a discrete abstraction, in the GR(1) fragment of linear temporal logic. The synthesized protocols ensure that the multi-robot task is fulfilled even in adversarial environments, and the presented abstraction provides a significant computational improvement over previous approaches. We illustrate these ideas in simulation, with applications to intrusion detection and surveillance.
Starting Page	336
Ending Page	341
File Size	584492
Page Count	6
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942581
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Switches Protocols Automata Safety
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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