Kloetzer, MariusDing, Xu ChuBelta, Calin2018-07-122018-07-122011-01-01Marius 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).0743-1546https://hdl.handle.net/2144/29845In 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.p. 4867-4872Science & technologyAutomation & control systemsDiscrete abstractionsHybrid systemsSyncronizationControl engineering computingFormal specificationMotion controlMulti-robot systemsPath planningTemporal logicLTL specificationRobot communication strategyArticle10.1109/CDC.2011.6160478