Temporal Logic Planning and Control of Robotic Swarms by Hierarchical Abstractions
We develop a hierarchical framework for planning and control of arbitrarily large groups (swarms) of fully actuated robots with polyhedral velocity bounds moving in polygonal environments with polygonal obstacles. At the first level of hierarchy, we aggregate the high-dimensional control system of t...
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| Published in | IEEE transactions on robotics Vol. 23; no. 2; pp. 320 - 330 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
New York, NY
IEEE
01.04.2007
Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1552-3098 1941-0468 |
| DOI | 10.1109/TRO.2006.889492 |
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| Abstract | We develop a hierarchical framework for planning and control of arbitrarily large groups (swarms) of fully actuated robots with polyhedral velocity bounds moving in polygonal environments with polygonal obstacles. At the first level of hierarchy, we aggregate the high-dimensional control system of the swarm into a small-dimensional control system capturing its essential features. These features describe the position of the swarm in the world and its size. At the second level, we reduce the problem of controlling the essential features of the swarm to a model-checking problem. In the obtained hierarchical framework, high-level specifications given in natural language, such as linear temporal logic formulas over linear predicates in the essential features, are automatically mapped to provably correct robot control laws. For the particular case of an abstraction based on centroid and variance, we show that swarm cohesion, interrobot collision avoidance, and environment containment can also be specified and automatically guaranteed in our framework. The obtained communication architecture is centralized |
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| AbstractList | We develop a hierarchical framework for planning and control of arbitrarily large groups (swarms) of fully actuated robots with polyhedral velocity bounds moving in polygonal environments with polygonal obstacles. At the first level of hierarchy, we aggregate the high-dimensional control system of the swarm into a small-dimensional control system capturing its essential features. These features describe the position of the swarm in the world and its size. At the second level, we reduce the problem of controlling the essential features of the swarm to a model-checking problem. In the obtained hierarchical framework, high-level specifications given in natural language, such as linear temporal logic formulas over linear predicates in the essential features, are automatically mapped to provably correct robot control laws. For the particular case of an abstraction based on centroid and variance, we show that swarm cohesion, interrobot collision avoidance, and environment containment can also be specified and automatically guaranteed in our framework. The obtained communication architecture is centralized We develop a hierarchical framework for planning and control of arbitrarily large groups (swarms) of fully actuated robots with polyhedral velocity bounds moving in polygonal environments with polygonal obstacles. At the first level of hierarchy, [abstract truncated by publisher]. We develop a hierarchical framework for planning and control of arbitrarily large groups (swarms) of fully actuated robots with polyhedral velocity bounds moving in polygonal environments with polygonal obstacles. At the first level of hierarchy, we aggregate the high-dimensional control system of the swarm into a small-dimensional control system capturing its essential features. These features describe the position of the swarm in the world and its size. At the second level, we reduce the problem of controlling the essential features of the swarm to a model-checking problem. In the obtained hierarchical framework, high-level specifications given in natural language, such as linear temporal logic formulas over linear predicates in the essential features, are automatically mapped to provably correct robot control laws. For the particular case of an abstraction based on centroid and variance, we show that swarm cohesion, interrobot collision avoidance, and environment containment can also be specified and automatically guaranteed in our framework. The obtained communication architecture is centralized. [PUBLICATION ABSTRACT] |
| Author | Kloetzer, M. Belta, C. |
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| Keywords | Specification language Control program Temporal logic Robotics Hierarchized structure Polyhedron System with n degrees of freedom Dimensional control Logic control Model checking Natural language Planning Collision avoidance |
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| SubjectTerms | Applied sciences Artificial intelligence Automation Collision avoidance Computer architecture Computer science; control theory; systems Containment Control Control system synthesis Control systems Control theory. Systems Exact sciences and technology Industrial metrology. Testing Laws Logic Mathematical models Mechanical engineering. Machine design model checking motion planning Obstacles Orbital robotics Power engineering computing Robot control robotic swarms Robotics Robotics and automation Robots Shape Systems engineering and theory Temporal logic Velocity control |
| Title | Temporal Logic Planning and Control of Robotic Swarms by Hierarchical Abstractions |
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