Show simple item record

dc.contributor.authorUlusoy, Alphanen_US
dc.contributor.authorDing, Xu Chuen_US
dc.contributor.authorBelta, Calinen_US
dc.contributor.authorRus, Danielaen_US
dc.contributor.authorSmith, Stephen L.en_US
dc.date.accessioned2018-07-02T15:12:53Z
dc.date.available2018-07-02T15:12:53Z
dc.date.issued2013-07-01
dc.identifierhttp://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000321669500002&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=6e74115fe3da270499c3d65c9b17d654
dc.identifier.citationAlphan Ulusoy, Stephen L Smith, Xu Chu Ding, Calin Belta, Daniela Rus. 2013. "Optimality and Robustness in Multi-Robot Path Planning with Temporal Logic Constraints." INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v. 32, issue 8, pp. 889 - 911 (23).
dc.identifier.issn0278-3649
dc.identifier.urihttps://hdl.handle.net/2144/29733
dc.description.abstractIn this paper we present a method for automatically generating optimal robot paths satisfying high-level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by an arbitrary linear temporal-logic (LTL) formula over propositions satisfied at the regions of a partitioned environment. The mission specification contains an optimizing proposition, which must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot path that minimizes the cost function. The problem is motivated by applications in robotic monitoring and data-gathering. In this setting, the optimizing proposition is satisfied at all locations where data can be uploaded, and the LTL formula specifies a complex data-collection mission. Our method utilizes Büchi automata to produce an automaton (which can be thought of as a graph) whose runs satisfy the temporal-logic specification. We then present a graph algorithm that computes a run corresponding to the optimal robot path. We present an implementation for a robot performing data collection in a road-network platform.en_US
dc.description.sponsorshipThis work was supported in part by the Office of Naval Research (grant number MURI N00014-09-1051), Army Research Office (grant number W911NF-09-1-0088), Air Force Office of Scientific Research (grant number YIP FA9550-09-1-020), National Science Foundation (grant number CNS-0834260), Singapore-MIT Alliance for Research and Technology (SMART) Future of Urban Mobility Project and by Natural Sciences and Engineering Research Council of Canada. (MURI N00014-09-1051 - Office of Naval Research; W911NF-09-1-0088 - Army Research Office; YIP FA9550-09-1-020 - Air Force Office of Scientific Research; CNS-0834260 - National Science Foundation; Singapore-MIT Alliance for Research and Technology (SMART); Natural Sciences and Engineering Research Council of Canada)en_US
dc.format.extentp. 889-911en_US
dc.languageEnglish
dc.publisherSAGE PUBLICATIONS LTDen_US
dc.relation.ispartofINTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
dc.subjectTechnologyen_US
dc.subjectRoboticsen_US
dc.subjectScience & technologyen_US
dc.subjectOptimal path planningen_US
dc.subjectOptimal multi-robot path planningen_US
dc.subjectTemporal logicen_US
dc.subjectFormal methodsen_US
dc.subjectCheckingen_US
dc.subjectSystemsen_US
dc.subjectArtificial intelligence and image processingen_US
dc.subjectElectrical and electronic engineeringen_US
dc.subjectMechanical engineeringen_US
dc.subjectIndustrial engineering & automationen_US
dc.subjectMotion planningen_US
dc.titleOptimality and robustness in multi-robot path planning with temporal logic constraintsen_US
dc.typeArticleen_US
dc.identifier.doi10.1177/0278364913487931
pubs.elements-sourceweb-of-scienceen_US
pubs.notesEmbargo: Not knownen_US
pubs.organisational-groupBoston Universityen_US
pubs.organisational-groupBoston University, College of Engineeringen_US
pubs.organisational-groupBoston University, College of Engineering, Department of Mechanical Engineeringen_US
pubs.publication-statusPublisheden_US


This item appears in the following Collection(s)

Show simple item record