Multiple mobile robot task and motion planning: A survey
With recent advances in mobile robotics, autonomous systems, and artificial intelligence,
there is a growing expectation that robots are able to solve complex problems. Many of …
there is a growing expectation that robots are able to solve complex problems. Many of …
Formal synthesis of controllers for safety-critical autonomous systems: Developments and challenges
In recent years, formal methods have been extensively used in the design of autonomous
systems. By employing mathematically rigorous techniques, formal methods can provide …
systems. By employing mathematically rigorous techniques, formal methods can provide …
Temporal logic task allocation in heterogeneous multirobot systems
X Luo, MM Zavlanos - IEEE Transactions on Robotics, 2022 - ieeexplore.ieee.org
We consider the problem of optimally allocating tasks, expressed as global linear temporal
logic (LTL) specifications, to teams of heterogeneous mobile robots of different types. Each …
logic (LTL) specifications, to teams of heterogeneous mobile robots of different types. Each …
Generating task reallocation suggestions to handle contingencies in human-supervised multi-robot missions
S Al-Hussaini, JM Gregory… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
In a mission with significant uncertainty due to intermittent communications, delayed
information flow, and robotic failures, the role of human supervisors is extremely …
information flow, and robotic failures, the role of human supervisors is extremely …
[PDF][PDF] Embodied Multi-Agent Task Planning from Ambiguous Instruction.
In human-robots collaboration scenarios, a human would give robots an instruction that is
intuitive for the human himself to accomplish. However, the instruction given to robots is …
intuitive for the human himself to accomplish. However, the instruction given to robots is …
Signal temporal logic task decomposition via convex optimization
M Charitidou, DV Dimarogonas - IEEE Control Systems Letters, 2021 - ieeexplore.ieee.org
In this letter we focus on the problem of decomposing a global Signal Temporal Logic
formula (STL) assigned to a multi-agent system to local STL tasks when the team of agents …
formula (STL) assigned to a multi-agent system to local STL tasks when the team of agents …
Fast decomposition of temporal logic specifications for heterogeneous teams
We focus on decomposing large multi-agent path planning problems with global temporal
logic goals (common to all agents) into smaller sub-problems that can be solved and …
logic goals (common to all agents) into smaller sub-problems that can be solved and …
Rewrite-based decomposition of signal temporal logic specifications
Multi-agent coordination under Signal Temporal Logic (STL) specifications is an exciting
approach for accomplishing complex temporal missions with safety requirements. Despite …
approach for accomplishing complex temporal missions with safety requirements. Despite …
Hierarchical multi-robot strategies synthesis and optimization under individual and collaborative temporal logic specifications
This paper presents a hierarchical framework for multi-robot temporal logic task planning.
We assume that each robot has its individual task specification and the robots have to jointly …
We assume that each robot has its individual task specification and the robots have to jointly …
Reactive task allocation and planning for quadrupedal and wheeled robot teaming
Z Zhou, DJ Lee, Y Yoshinaga… - 2022 IEEE 18th …, 2022 - ieeexplore.ieee.org
This paper takes the first step towards a reactive, hierarchical multi-robot task allocation and
planning framework given a global Linear Temporal Logic specification. The capabilities of …
planning framework given a global Linear Temporal Logic specification. The capabilities of …