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Multirobot Coordination With Counting Temporal Logics

Sahin, Yunus Emre and Nilsson, Petter and Ozay, Necmiye (2020) Multirobot Coordination With Counting Temporal Logics. IEEE Transactions on Robotics, 36 (4). pp. 1189-1206. ISSN 1552-3098. https://resolver.caltech.edu/CaltechAUTHORS:20200102-152957006

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Abstract

In many multirobot applications, planning trajectories in a way to guarantee that the collective behavior of the robots satisfies a certain high-level specification is crucial. Motivated by this problem, we introduce counting temporal logics —formal languages that enable concise expression of multirobot task specifications over possibly infinite horizons in this article. We first introduce a general logic called counting linear temporal logic plus (cLTL+), and propose an optimization-based method that generates individual trajectories such that satisfaction of a given cLTL+ formula is guaranteed when these trajectories are synchronously executed. We then introduce a fragment of cLTL+, called counting linear temporal logic (cLTL), and show that a solution to a planning problem with cLTL constraints can be obtained more efficiently if all robots have identical dynamics. In the second part of this article, we relax the synchrony assumption and discuss how to generate trajectories that can be asynchronously executed, while preserving the satisfaction of the desired cLTL+ specification. In particular, we show that when the asynchrony between robots is bounded, the method presented in this article can be modified to generate robust trajectories. We demonstrate these ideas with an experiment and provide numerical results that showcase the scalability of the method.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/tro.2019.2957669DOIArticle
ORCID:
AuthorORCID
Sahin, Yunus Emre0000-0003-3585-608X
Nilsson, Petter0000-0001-8748-6936
Ozay, Necmiye0000-0002-5552-4392
Additional Information:© 2019 IEEE. Manuscript received July 13, 2019; accepted November 21, 2019. Date of publication December 20, 2019; date of current version August 5, 2020. This article was recommended for publication by Associate Editor A. Franchi and Editor P. Robuffo Giordano upon evaluation of the reviewers’ comments. This work was supported in part by the National Science Foundation under Grant CNS-1239037, Grant CNS-1446298, and Grant ECCS-1553873, and in part by the Defense Advanced Research Projects Agency under Grant N66001-14-1-4045.
Funders:
Funding AgencyGrant Number
NSFCNS-1239037
NSFCNS-1446298
NSFECCS-1553873
Defense Advanced Research Projects Agency (DARPA)N66001-14-1-4045
Subject Keywords:Formal methods, multirobot systems, path planning
Issue or Number:4
Record Number:CaltechAUTHORS:20200102-152957006
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200102-152957006
Official Citation:Y. E. Sahin, P. Nilsson and N. Ozay, "Multirobot Coordination With Counting Temporal Logics," in IEEE Transactions on Robotics, vol. 36, no. 4, pp. 1189-1206, Aug. 2020, doi: 10.1109/TRO.2019.2957669
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:100471
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:03 Jan 2020 02:42
Last Modified:20 Nov 2020 23:57

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