Citation
Vasu Raman, Hadas Kress-Gazit. "Synthesis for Multi-Robot Controllers with Interleaved Motion". 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), 31, May, 2014.

Abstract
This paper addresses the problem of designing control schemes for teams of robots engaged in complex high-level tasks. It presents a method for automatically creating hybrid controllers that ensure that a team of possibly heterogeneous robots satisfies a user-defined high-level task. The proposed approach relaxes constraints on the simultaneous and interleaved motion of the robots, while maintaining constraints on their relative location to guarantee collision-avoidance and prevent deadlock. The approach is demonstrated in the context of a team of robots engaged in sorting objects for recycling.

Electronic downloads

• https://www.src.org/library/publication/p069531/. (Link to publication on the SRC website.)
• http://dx.doi.org/10.1109/ICRA.2014.6907487

• HTML

  Vasu Raman, Hadas Kress-Gazit. <a
  href="http://www.terraswarm.org/pubs/262.html"
  >Synthesis for Multi-Robot Controllers with Interleaved
  Motion</a>, 2014 IEEE International Conference on
  Robotics and Automation (ICRA 2014), 31, May, 2014.

• Plain text

  Vasu Raman, Hadas Kress-Gazit. "Synthesis for
  Multi-Robot Controllers with Interleaved Motion". 2014
  IEEE International Conference on Robotics and Automation
  (ICRA 2014), 31, May, 2014.

• BibTeX

  @inproceedings{RamanKressGazit14_SynthesisForMultiRobotControllersWithInterleavedMotion,
      author = {Vasu Raman and Hadas Kress-Gazit},
      title = {Synthesis for Multi-Robot Controllers with
                Interleaved Motion},
      booktitle = {2014 IEEE International Conference on Robotics and
                Automation (ICRA 2014)},
      day = {31},
      month = {May},
      year = {2014},
      abstract = {This paper addresses the problem of designing
                control schemes for teams of robots engaged in
                complex high-level tasks. It presents a method for
                automatically creating hybrid controllers that
                ensure that a team of possibly heterogeneous
                robots satisfies a user-defined high-level task.
                The proposed approach relaxes constraints on the
                simultaneous and interleaved motion of the robots,
                while maintaining constraints on their relative
                location to guarantee collision-avoidance and
                prevent deadlock. The approach is demonstrated in
                the context of a team of robots engaged in sorting
                objects for recycling.},
      URL = {http://terraswarm.org/pubs/262.html}
  }
  

Posted by Vasu Raman on 16 Feb 2014.