Automated planning of motion tasks for multi-robot systems

Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:43:09Z
dc.date.available	2014-03-01T02:43:09Z
dc.date.issued	2005	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31256
dc.subject	Automated Planning	en
dc.subject	Combinatorial Optimization Problem	en
dc.subject	Computer Simulation	en
dc.subject	Integer Program	en
dc.subject	Linear Temporal Logic	en
dc.subject	Multi Robot System	en
dc.subject	Polynomial Time	en
dc.subject	Satisfiability	en
dc.subject	Input Output	en
dc.subject.other	Combinatorial mathematics	en
dc.subject.other	Computer simulation	en
dc.subject.other	Formal logic	en
dc.subject.other	Integer programming	en
dc.subject.other	Multi agent systems	en
dc.subject.other	Optimization	en
dc.subject.other	Robots	en
dc.subject.other	Combinatorial optimization	en
dc.subject.other	Primitive task controllers	en
dc.subject.other	Task specifications	en
dc.subject.other	Motion planning	en
dc.title	Automated planning of motion tasks for multi-robot systems	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2005.1582134	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2005.1582134	en
heal.identifier.secondary	1582134	en
heal.publicationDate	2005	en
heal.abstract	In this paper we present an automated task planning methodology to automatically compose multi-robot motion tasks. A motion task is defined as an input-output module. Primitive motion tasks represented as modules (called primitive modules) are defined based on Linear Temporal Logic specifications. The task planning is then considered as a composition over compatible primitive modules in such a way that the inverted motion task module and the primitive modules form a closed chain. The problem is posed as an integer programming problem and is reduced to the combinatorial optimization problem of shortest dipath which can be solved in polynomial time. The basic safety and liveness specifications of the primitive task controllers are inherited by the resulting composed system and the requested task specifications are satisfied by construction, ensuring a correct design. The effectiveness of the proposed methodology is shown through computer simulation. © 2005 IEEE.	en
heal.journalName	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05	en
dc.identifier.doi	10.1109/CDC.2005.1582134	en
dc.identifier.volume	2005	en
dc.identifier.spage	78	en
dc.identifier.epage	83	en