Multi-robot deployment from LTL specifications with reduced communication
Ding, Xu Chu
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Citation (published version)Marius Kloetzer, Xu Chu Ding, Calin Belta. 2011. "Multi-robot Deployment From LTL Specifications with Reduced Communication." 2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), pp. 4867 - 4872 (6).
In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps: (i) the construction of finite abstractions for the motions of each robot, (ii) the parallel composition of the abstractions, (iii) the generation of a satisfying motion of the team; (iv) mapping this motion to individual robot control and communication strategies. The main result of the paper is an algorithm to reduce the amount of inter-robot communication during the fourth step of the procedure.