Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866916301574766592 |
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| author | Fang, Amy Yin, Tenny Lin, Jiawei Kress-Gazit, Hadas |
| author_facet | Fang, Amy Yin, Tenny Lin, Jiawei Kress-Gazit, Hadas |
| contents | We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^ψ, which uses the concept of bindings to interleave robot actions and express information about relationship between specific task requirements and robot assignments. We present a synthesis approach to automatically generate a teaming assignment and corresponding discrete behavior that is correct-by-construction for continuous execution, while also implementing synchronization policies to ensure collaborative portions of the task are satisfied. We demonstrate our approach on a physical multi-robot system. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_18019 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams Fang, Amy Yin, Tenny Lin, Jiawei Kress-Gazit, Hadas Robotics We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^ψ, which uses the concept of bindings to interleave robot actions and express information about relationship between specific task requirements and robot assignments. We present a synthesis approach to automatically generate a teaming assignment and corresponding discrete behavior that is correct-by-construction for continuous execution, while also implementing synchronization policies to ensure collaborative portions of the task are satisfied. We demonstrate our approach on a physical multi-robot system. |
| title | Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams |
| topic | Robotics |
| url | https://arxiv.org/abs/2406.18019 |