Citation
Indranil Saha, Rattanachai Ramaithitima, Vijay Kumar, George Pappas, Sanjit Seshia. "Automated Composition of Motion Primitives for Multi-Robot Systems from Safe LTL Specifications". International Conference on Intelligent Robots and Systems, IEEE/RSJ, 14, September, 2014.

Abstract
We present a constraint based compositional motion planning framework for multi-robot systems. In our framework, the runtime behavior of a group of robots is specified using a set of safe LTL properties. Our method relies on a library of motion primitives that provides a set of controllers to be used to control the behavior of the robots in different configurations. Using the closed loop behavior of the robots under the action of different controllers, we formulate the motion planning problem as a constraint solving problem and use an off-the-shelf satisfiability modulo theories (SMT) solver to solve the constraints and generate trajectories for the individual robot. Our approach can also be extended to synthesize optimal cost trajectories where optimality is defined with respect to the available motion primitives. Experimental results show that our framework has potential to solve complex motion planning problems in the context of multi-robot systems.

Electronic downloads

• https://www.src.org/library/publication/p069482/. (Link to publication on SRC website.)
• http://dx.doi.org/10.1109/IROS.2014.6942758
• http://people.eecs.berkeley.edu/~sseshia/pubdir/iros14.pdf. ("Camera ready" version)
• http://escholarship.org/uc/item/27z3k9gx. (link to eScholarship site)

• HTML

  Indranil Saha, Rattanachai Ramaithitima, Vijay Kumar, George
  Pappas, Sanjit Seshia. <a
  href="http://www.terraswarm.org/pubs/280.html"
  >Automated Composition of Motion Primitives for
  Multi-Robot Systems from Safe LTL Specifications</a>,
  International Conference on Intelligent Robots and Systems,
  IEEE/RSJ, 14, September, 2014.

• Plain text

  Indranil Saha, Rattanachai Ramaithitima, Vijay Kumar, George
  Pappas, Sanjit Seshia. "Automated Composition of Motion
  Primitives for Multi-Robot Systems from Safe LTL
  Specifications". International Conference on
  Intelligent Robots and Systems, IEEE/RSJ, 14, September,
  2014.

• BibTeX

  @inproceedings{SahaRamaithitimaKumarPappasSeshia14_AutomatedCompositionOfMotionPrimitivesForMultiRobot,
      author = {Indranil Saha and Rattanachai Ramaithitima and
                Vijay Kumar and George Pappas and Sanjit Seshia},
      title = {Automated Composition of Motion Primitives for
                Multi-Robot Systems from Safe LTL Specifications},
      booktitle = {International Conference on Intelligent Robots and
                Systems},
      organization = {IEEE/RSJ},
      day = {14},
      month = {September},
      year = {2014},
      abstract = {We present a constraint based compositional motion
                planning framework for multi-robot systems. In our
                framework, the runtime behavior of a group of
                robots is specified using a set of safe LTL
                properties. Our method relies on a library of
                motion primitives that provides a set of
                controllers to be used to control the behavior of
                the robots in different configurations. Using the
                closed loop behavior of the robots under the
                action of different controllers, we formulate the
                motion planning problem as a constraint solving
                problem and use an off-the-shelf satisfiability
                modulo theories (SMT) solver to solve the
                constraints and generate trajectories for the
                individual robot. Our approach can also be
                extended to synthesize optimal cost trajectories
                where optimality is defined with respect to the
                available motion primitives. Experimental results
                show that our framework has potential to solve
                complex motion planning problems in the context of
                multi-robot systems.},
      URL = {http://terraswarm.org/pubs/280.html}
  }
  

Posted by Barb Hoversten on 20 Feb 2014.