Distributed Path Planning of Mobile Robots with LTL Specifications
| Autor: | Marius Kloetzer, Ioana Hustiu, Cristian Mahulea |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Distributed computing Mobile robot 02 engineering and technology Petri net Computer Science::Robotics 020901 industrial engineering & automation Linear temporal logic 0202 electrical engineering electronic engineering information engineering Decomposition (computer science) Robot 020201 artificial intelligence & image processing Motion planning |
| Zdroj: | ICSTCC |
| DOI: | 10.1109/icstcc50638.2020.9259659 |
| Popis: | This paper studies the path planning problem of mobile robots with high-level specifications, given as co-safe Linear Temporal Logic (LTL) formulas. Based on some results in literature that are allowing to distribute the specification among the robots, the first contribution of this paper is an algorithm that is allowing a decomposition of the formula in tasks that can be achieved only by one robot. Once the formula is decomposed, we adapt our previous results from centralized planning and we propose a mathematical program to assign the tasks to robots. A supporting example accompanies the proposed method. |
| Databáze: | OpenAIRE |
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