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## Optimal multi-robot path planning with temporal logic constraints

Venue: | in IEEE/RSJ International Conference on Intelligent Robots and Systems,, 2011 |

Citations: | 7 - 1 self |

### Citations

3935 |
Communication and Concurrency
- Milner
- 1989
(Show Context)
Citation Context ...nvironment as a timed automaton. This description allows us to represent the relative position between robots. Such information is necessary for optimizing the robot motion. We provide a bisimulation =-=[16]-=- of the ar X iv :1 10 7. 00 62 v1s[ cs .R O]s3 0 J uns20 11 infinite-dimensional timed automaton to a finite dimensional transition system. From this point we are able to apply our previous results [8... |

1502 | The model checker Spin
- Holzmann
- 1997
(Show Context)
Citation Context ...for robots [1], [2], [3], [4], [5]. Temporal logics are appealing because they provide a formal high level language in which to describe a complex mission. In addition, tools from model checking [6], =-=[7]-=- can be used to generate a robot path satisfying the specification, if such a path exists. However, frequently there are multiple robot paths that satisfy a given specification. In this case, one woul... |

690 |
An automata-theoretic approach to automatic program verification
- Vardi, Wolper
- 1986
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Citation Context ...lans for robots [1], [2], [3], [4], [5]. Temporal logics are appealing because they provide a formal high level language in which to describe a complex mission. In addition, tools from model checking =-=[6]-=-, [7] can be used to generate a robot path satisfying the specification, if such a path exists. However, frequently there are multiple robot paths that satisfy a given specification. In this case, one... |

235 |
A theory of timed automata. Theoretical Computer Science, 126:183–235
- Alur, Dill
- 1994
(Show Context)
Citation Context ...n this happens, the transition is immediately taken and the clocks in the clock-resets are reset. The timed automaton from Def. II.4 can be seen as a particular case of the timed automaton defined in =-=[18]-=-, which also allows for clock invariants associated with states. A timed automaton, as defined in Def. II.4, has a finite set of clock regions RA, which is the set of equivalence classes of clock valu... |

180 | Fast LTL to Buchi automata translation.
- Gastin, Oddoux
- 2001
(Show Context)
Citation Context ...ts with FB infinitely many times. For any LTL formula φ over Π, one can construct a Büchi automaton with input alphabet Σ ⊆ 2Π accepting all and only words over Π that satisfy φ. We refer readers to =-=[17]-=- and references therein for efficient algorithms and freely downloadable implementations to translate a LTL formula over Π to a corresponding Büchi automaton. B. Timed Automata A clock is a real-valu... |

62 |
Controlling a class of nonlinear systems on rectangles
- Belta, Habets
- 2006
(Show Context)
Citation Context ...f presentation, we assume that each robot moves among the vertices of an environment modeled as a graph. However, by using feedback controllers for facet reachability and invariance in polytopes [9], =-=[10]-=- the method developed in this paper can be easily applied for motion planning and control of robots with “realistic” continuous dynamics (e.g., unicycle) traversing an environment partitioned using po... |

61 | A control problem for affine dynamical systems on a fulldimensional polytope. - Habets, Schuppen - 2004 |

60 | Receding horizon control for temporal logic specifications,”
- Wongpiromsarn, Topcu, et al.
- 2010
(Show Context)
Citation Context ...ersistent monitoring task in a road network environment. I. INTRODUCTION Recently there has been an increased interest in using temporal logics to specify mission plans for robots [1], [2], [3], [4], =-=[5]-=-. Temporal logics are appealing because they provide a formal high level language in which to describe a complex mission. In addition, tools from model checking [6], [7] can be used to generate a robo... |

58 | Discrete abstractions for robot motion planning and control in polygonal environments,”
- Belta, Isler, et al.
- 2005
(Show Context)
Citation Context ...ion of a persistent monitoring task in a road network environment. I. INTRODUCTION Recently there has been an increased interest in using temporal logics to specify mission plans for robots [1], [2], =-=[3]-=-, [4], [5]. Temporal logics are appealing because they provide a formal high level language in which to describe a complex mission. In addition, tools from model checking [6], [7] can be used to gener... |

51 | K.J.: Automatic synthesis of multiagent motion tasks based on LTL specifications. In:
- Loizou, Kyriakopoulos
- 2004
(Show Context)
Citation Context ...mulation of a persistent monitoring task in a road network environment. I. INTRODUCTION Recently there has been an increased interest in using temporal logics to specify mission plans for robots [1], =-=[2]-=-, [3], [4], [5]. Temporal logics are appealing because they provide a formal high level language in which to describe a complex mission. In addition, tools from model checking [6], [7] can be used to ... |

39 |
Automatic deployment of distributed teams of robots from temporal logic specifications,”
- Kloetzer, Belta
- 2010
(Show Context)
Citation Context ...@uwaterloo.ca) ‡ Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139 (rus@csail.mit.edu) allowing the robots to move asynchronously. In =-=[11]-=-, the authors propose a method for decentralized motion of multiple robots subject to LTL specifications. In their approach, the robots take transitions (i.e., travel along edges in the graph) synchro... |

31 | Discrete event models + temporal logic = supervisory controller: Automatic synthesis of locomotion controllers,”
- Antoniotti, Mishra
- 1995
(Show Context)
Citation Context ... a simulation of a persistent monitoring task in a road network environment. I. INTRODUCTION Recently there has been an increased interest in using temporal logics to specify mission plans for robots =-=[1]-=-, [2], [3], [4], [5]. Temporal logics are appealing because they provide a formal high level language in which to describe a complex mission. In addition, tools from model checking [6], [7] can be use... |

19 | Temporal logicbased reactive mission and motion planning,”
- Kress-Gazit, Fainekos, et al.
- 2009
(Show Context)
Citation Context ...f a persistent monitoring task in a road network environment. I. INTRODUCTION Recently there has been an increased interest in using temporal logics to specify mission plans for robots [1], [2], [3], =-=[4]-=-, [5]. Temporal logics are appealing because they provide a formal high level language in which to describe a complex mission. In addition, tools from model checking [6], [7] can be used to generate a... |

19 |
Multi-robot motion planning: A timed automata approach,”
- Quottrup, Bak, et al.
- 2004
(Show Context)
Citation Context ...ake the next transition. While such an approach is effective for satisfying the LTL formula, it does not lend itself to optimizing the robot motion, since time is spent “waiting” for other robots. In =-=[12]-=-, the authors take a different approach, representing the motion of the robots in the environment as a timed automaton. Each robot then has a continuous clock variable that describes its progress alon... |

14 |
Complex mission optimization for multiple-UAVs using linear temporal logic,”
- Karaman, Frazzoli
- 2008
(Show Context)
Citation Context ...than just satisfying the formulas, we optimize the motion of the robots. In terms of optimizing paths, the most closely related work has been on the vehicle routing problem (VRP) [13]. Recent results =-=[14]-=-, [15] present extensions of vehicle routing problems to more general classes of temporal constraints. In [15], the authors consider vehicle routing with metric temporal logic specifications. The goal... |

9 |
Optimal path planning under temporal logic constraints,”
- Smith, Tumova, et al.
- 2010
(Show Context)
Citation Context ...specification. In this case, one would like to choose the optimal path according to a cost function. The current tools from model checking do not provide a method for doing this. In our previous work =-=[8]-=- we considered Linear Temporal Logic (LTL) specifications, and a particular form of cost function, and provided a method for computing optimal robot paths for one robot. In this paper we extend this r... |

6 |
The Vehicle Routing Problem, ser
- Toth, Vigo, et al.
- 2001
(Show Context)
Citation Context ... In addition, rather than just satisfying the formulas, we optimize the motion of the robots. In terms of optimizing paths, the most closely related work has been on the vehicle routing problem (VRP) =-=[13]-=-. Recent results [14], [15] present extensions of vehicle routing problems to more general classes of temporal constraints. In [15], the authors consider vehicle routing with metric temporal logic spe... |