A Caltech Library Service

Reactive switching protocols for multi-robot high-level tasks

Raman, Vasumathi (2014) Reactive switching protocols for multi-robot high-level tasks. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 336-341. ISBN 978-1-4799-6934-0.

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item:


This paper considers a team of cooperative, homogeneous robots operating in a nondeterministic environment, performing complex high-level tasks. We concurrently solve the problems of dynamic task assignment and reactive planning in a centralized fashion, allowing goal reassignment as needed in response to changes in the environment. To this end, we model the team of robots as a switched system whose various modes must be activated to satisfy high-level specifications, and describe a formal framework for synthesizing switching protocols for this system. The robots' continuous dynamics under a specific task allocation, as well as their operating environment, are encoded as formulas on a discrete abstraction, in the GR(1) fragment of linear temporal logic. The synthesized protocols ensure that the multi-robot task is fulfilled even in adversarial environments, and the presented abstraction provides a significant computational improvement over previous approaches. We illustrate these ideas in simulation, with applications to intrusion detection and surveillance.

Item Type:Book Section
Related URLs:
URLURL TypeDescription DOIArticle
Additional Information:© 2014 IEEE. This work was supported in part by the TerraSwarm Research Center, one of six centers supported by the STARnet phase of the Focus Center Research Program (FCRP) a Semiconductor Research Corporation program sponsored by MARCO and DARPA.
Funding AgencyGrant Number
TerraSwarm Research CenterUNSPECIFIED
Semiconductor Research CorporationUNSPECIFIED
Microelectronics Advanced Research Corporation (MARCO)UNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Record Number:CaltechAUTHORS:20150402-131230382
Persistent URL:
Official Citation:Raman, V., "Reactive switching protocols for multi-robot high-level tasks," Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on , vol., no., pp.336,341, 14-18 Sept. 2014 doi: 10.1109/IROS.2014.6942581 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:56309
Deposited By: Tony Diaz
Deposited On:02 Apr 2015 20:46
Last Modified:03 Oct 2019 08:13

Repository Staff Only: item control page