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dc.contributor.authorHaghighi, Imanen_US
dc.contributor.authorSadraddini, Sadraen_US
dc.contributor.authorBelta, Calinen_US
dc.coverage.spatialLas Vegas, NVen_US
dc.date.accessioned2018-07-11T18:24:17Z
dc.date.available2018-07-11T18:24:17Z
dc.date.issued2016-01-01
dc.identifierhttp://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000400048105145&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=6e74115fe3da270499c3d65c9b17d654
dc.identifier.citationIman Haghighi, Sadra Sadraddini, Calin Belta. 2016. "Robotic Swarm Control from Spatio-Temporal Specifications." 2016 IEEE 55TH Conference On Decision And Control (CDC), pp. 5708 - 5713 (6).
dc.identifier.issn0743-1546
dc.identifier.urihttps://hdl.handle.net/2144/29822
dc.description.abstractIn this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range of time varying and complex spatial configurations, and develop a method to encode such formal specifications as a set of mixed integer linear constraints, which are incorporated into a mixed integer linear programming problem. We plan trajectories for each individual robot such that the whole swarm satisfies the spatio-temporal requirements, while optimizing total robot movement and/or a metric that shows how strongly the swarm trajectory resembles given spatio-temporal behaviors. An illustrative case study is included.en_US
dc.description.sponsorshipThis work was partially supported by the National Science Foundation under grants NRI-1426907 and CMMI-1400167. (NRI-1426907 - National Science Foundation; CMMI-1400167 - National Science Foundation)en_US
dc.format.extent5708 - 5713 (6)en_US
dc.languageEnglish
dc.publisherIEEEen_US
dc.relation.ispartof2016 IEEE 55TH Conference On Decision And Control (CDC)
dc.subjectScience & technologyen_US
dc.subjectTechnologyen_US
dc.subjectAutomation & control systemsen_US
dc.subjectEngineering, electrical & electronicen_US
dc.subjectOperations research & management scienceen_US
dc.subjectEngineeringen_US
dc.titleRobotic swarm control from spatio-temporal specificationsen_US
dc.typeArticleen_US
dc.identifier.doi10.1109/CDC.2016.7799146
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


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