Optimal Control Synthesis with Relaxed Global Temporal Logic Specifications for Homogeneous Multi-robot Teams
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866916272894115840 |
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| author | Kamale, Disha Vasile, Cristian-Ioan |
| author_facet | Kamale, Disha Vasile, Cristian-Ioan |
| contents | In this work, we address the problem of control synthesis for a homogeneous team of robots given a global temporal logic specification and formal user preferences for relaxation in case of infeasibility. The relaxation preferences are represented as a Weighted Finite-state Edit System and are used to compute a relaxed specification automaton that captures all allowable relaxations of the mission specification and their costs. For synthesis, we introduce a Mixed Integer Linear Programming (MILP) formulation that combines the motion of the team of robots with the relaxed specification automaton. Our approach combines automata-based and MILP-based methods and leverages the strengths of both approaches while avoiding their shortcomings. Specifically, the relaxed specification automaton explicitly accounts for the progress towards satisfaction, and the MILP-based optimization approach avoids the state-space explosion associated with explicit product-automata construction, thereby efficiently solving the problem. The case studies highlight the efficiency of the proposed approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_01848 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Optimal Control Synthesis with Relaxed Global Temporal Logic Specifications for Homogeneous Multi-robot Teams Kamale, Disha Vasile, Cristian-Ioan Robotics In this work, we address the problem of control synthesis for a homogeneous team of robots given a global temporal logic specification and formal user preferences for relaxation in case of infeasibility. The relaxation preferences are represented as a Weighted Finite-state Edit System and are used to compute a relaxed specification automaton that captures all allowable relaxations of the mission specification and their costs. For synthesis, we introduce a Mixed Integer Linear Programming (MILP) formulation that combines the motion of the team of robots with the relaxed specification automaton. Our approach combines automata-based and MILP-based methods and leverages the strengths of both approaches while avoiding their shortcomings. Specifically, the relaxed specification automaton explicitly accounts for the progress towards satisfaction, and the MILP-based optimization approach avoids the state-space explosion associated with explicit product-automata construction, thereby efficiently solving the problem. The case studies highlight the efficiency of the proposed approach. |
| title | Optimal Control Synthesis with Relaxed Global Temporal Logic Specifications for Homogeneous Multi-robot Teams |
| topic | Robotics |
| url | https://arxiv.org/abs/2406.01848 |