Name
Abstract | ||
|---|---|---|
We present a computational framework for automatic synthesis of control and communication strategies for a robotic team from task specifications that are given as regular expressions about servicing requests in an environment. We assume that the location of the requests in the environment and the robot capacities and cooperation requirements to service the requests are known. Our approach is based on two main ideas. First, we extend recent results from formal synthesis of distributed systems to check for the distributability of the task specification and to generate local specifications, while accounting for the service and communication capabilities of the robots. Second, by using a technique that is inspired by linear temporal logic model checking, we generate individual control and communication strategies. We illustrate the method with experimental results in our robotic urban-like environment. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/TRO.2011.2163434 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
Robots,Doped fiber amplifiers,Educational institutions,System recovery,Fuses,Cities and towns,Protocols | Motion planning,Robot control,Model checking,Task analysis,Computer science,Linear temporal logic,Temporal logic,Mobile robot,Distributed computing,Formal verification | Journal |
Volume | Issue | ISSN |
28 | 1 | 1552-3098 |
Citations | PageRank | References |
37 | 1.29 | 14 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yushan Chen | 1 | 98 | 5.32 |
| Xu Chu Ding | 2 | 324 | 18.62 |
| Alin Stefanescu | 3 | 209 | 17.79 |
| Calin Belta | 4 | 2197 | 153.54 |