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dc.contributor.authorKloetzer, Mariusen_US
dc.contributor.authorDing, Xu Chuen_US
dc.contributor.authorBelta, Calinen_US
dc.coverage.spatialOrlando, FLen_US
dc.date.accessioned2018-07-12T14:56:14Z
dc.date.available2018-07-12T14:56:14Z
dc.date.issued2011-01-01
dc.identifierhttp://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000303506205078&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=6e74115fe3da270499c3d65c9b17d654
dc.identifier.citationMarius 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).
dc.identifier.issn0743-1546
dc.identifier.urihttps://hdl.handle.net/2144/29845
dc.description.abstractIn 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.en_US
dc.description.sponsorshipThis work was partially supported by the CNCS-UEFISCDI grant PN-II-RU PD 333/2010 at the Technical University of Iasi, Romania, and by ONR MURI N00014-09-1051, ARO W911NF-09-1-0088, AFOSR YIP FA9550-09-1-020 and NSF CNS-0834260 at Boston University. (PN-II-RU PD 333/2010 - CNCS-UEFISCDI-Technical University of Iasi, Romania; ONR MURI N00014-09-1051 - Boston University; ARO W911NF-09-1-0088 - Boston University; AFOSR YIP FA9550-09-1-020 - Boston University; NSF CNS-0834260 - Boston University)en_US
dc.format.extentp. 4867-4872en_US
dc.languageEnglish
dc.publisherIEEEen_US
dc.relation.ispartof2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)
dc.subjectScience & technologyen_US
dc.subjectAutomation & control systemsen_US
dc.subjectDiscrete abstractionsen_US
dc.subjectHybrid systemsen_US
dc.subjectSyncronizationen_US
dc.subjectControl engineering computingen_US
dc.subjectFormal specificationen_US
dc.subjectMotion controlen_US
dc.subjectMulti-robot systemsen_US
dc.subjectPath planningen_US
dc.subjectTemporal logicen_US
dc.subjectLTL specificationen_US
dc.subjectRobot communication strategyen_US
dc.titleMulti-robot deployment from LTL specifications with reduced communicationen_US
dc.typeArticleen_US
dc.identifier.doi10.1109/CDC.2011.6160478
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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