2020
DOI: 10.1109/tro.2019.2957669
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Multirobot Coordination With Counting Temporal Logics

Abstract: In many multirobot applications, planning trajectories in a way to guarantee that the collective behavior of the robots satisfies a certain high-level specification is crucial. Motivated by this problem, we introduce counting temporal logics-formal languages that enable concise expression of multirobot task specifications over possibly infinite horizons. We first introduce a general logic called counting linear temporal logic plus (cLTL+), and propose an optimization-based method that generates individual traj… Show more

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Cited by 57 publications
(30 citation statements)
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“…Another class of synthesis approaches for STL is based on model predictive control (MPC), for example, [6], [14], [15], [16], [17]. In these approaches, a time-step is fixed and the decision variables of the optimization are just the state at each step.…”
Section: A Related Workmentioning
confidence: 99%
“…Another class of synthesis approaches for STL is based on model predictive control (MPC), for example, [6], [14], [15], [16], [17]. In these approaches, a time-step is fixed and the decision variables of the optimization are just the state at each step.…”
Section: A Related Workmentioning
confidence: 99%
“…Consider a MRS consisting of N = 4 robots, the dynamics of robot i is given by (17), and the velocity and input constraints are given by (18). For robots i ∈ {1, 2}, one has that v i,max = 1m/s, ω i,max = 0.5rad/s, and a i,max = 2m/s 2 .…”
Section: A Examplementioning
confidence: 99%
“…5) Cost function: To implement the objective function in Problems 1 and 2, we can penalize state transitions and information transmission costs C andC using the variables (9)- (13). The cost of using the mobility (resp.…”
Section: A Intermittent Connectivity Problemmentioning
confidence: 99%
“…As previous work [8], [10], [11], [12], [13] we plan multiagent trajectories via an Integer Linear Program (ILP). Connectivity problems have also been solved with the (mixed) ILP approach: [14] proposed a MILP that keeps static source states connected over time.…”
Section: Introductionmentioning
confidence: 99%