Details

Autor(en) / Beteiligte

• Kloetzer, M.
• Xu Chu Ding
• Belta, C.

Titel

Multi-robot deployment from LTL specifications with reduced communication

Ist Teil von

• 2011 50th IEEE Conference on Decision and Control and European Control Conference, 2011, p.4867-4872

Ort / Verlag

IEEE

Erscheinungsjahr

2011

Quelle

IEEE Xplore

Beschreibungen/Notizen

• In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps: (i) the construction of finite abstractions for the motions of each robot, (ii) the parallel composition of the abstractions, (iii) the generation of a satisfying motion of the team; (iv) mapping this motion to individual robot control and communication strategies. The main result of the paper is an algorithm to reduce the amount of inter-robot communication during the fourth step of the procedure.