NDLI: LTL Planning for Groups of Robots

Content Provider	IEEE Xplore Digital Library
Author	Kloetzer, M. Belta, C.
Copyright Year	2006
Description	Author affiliation: Center for Inf. & Syst. Eng., Boston Univ., Brookline, MA (Kloetzer, M.; Belta, C.)
Abstract	We approach the general problem of planning and controlling groups of robots from logical and temporal specifications over regions of interest in 2D or 3D environments. The focus of this paper is on planning, and, enabled by our previous results, we assume that the environment is partitioned and described in the form of a graph whose nodes label the partition regions and whose edges capture adjacency relations among these regions. We also assume that the robots can synchronize when penetrating from a region to another. We develop a fully automated framework for generation of robot plans from robot abstract task specifications given in terms of linear temporal logic (LTL) formulas over regions of interest. Inter-robot collision avoidance is guaranteed, and the assignment of plans to specific robots is automatic. The main tools underlying our framework are model checking and bisimilarity equivalence relations
Sponsorship	IEEE SYSTEMS, MAN AND CYBERNETICS SOC
Starting Page	578
Ending Page	583
File Size	407795
Page Count	6
File Format	PDF
ISBN	1424400651
DOI	10.1109/ICNSC.2006.1673210
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-04-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Logic Robotics and automation Motion planning Robot control Navigation Collision avoidance Convergence Surveillance Concurrent computing
Content Type	Text
Resource Type	Article

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