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Title: Automated planning of motion tasks for multi-robot systems
Authors: Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Computer simulation;Automatic control;Laboratories;Robots
Issue Date: 2005
Publisher: IEEE
Source: Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference CDC-ECC, 2005, Pages 78-83
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.
ISBN: 0780395689
DOI: 10.1109/CDC.2005.1582134
Rights: © 2005 IEEE
Type: Book Chapter
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

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