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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. https://resolver.caltech.edu/CaltechAUTHORS:20150402-131230382

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Abstract

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
http://dx.doi.org/10.1109/IROS.2014.6942581 DOIArticle
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6942581PublisherArticle
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.
Funders:
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:https://resolver.caltech.edu/CaltechAUTHORS:20150402-131230382
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: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6942581&isnumber=6942370
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:56309
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:02 Apr 2015 20:46
Last Modified:03 Oct 2019 08:13

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