Citation
Vasu Raman. "Reactive Switching Protocols for Multi-Robot High-Level Tasks". IEEE/RSJ International Conference on Intelligent Robots and Systems, 14, September, 2014.

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.

Electronic downloads

• https://www.src.org/library/publication/p070808/
• http://dx.doi.org/10.1109/IROS.2014.6942581

• HTML

  Vasu Raman. <a
  href="http://www.terraswarm.org/pubs/325.html"
  >Reactive Switching Protocols for Multi-Robot High-Level
  Tasks</a>, IEEE/RSJ International Conference on
  Intelligent Robots and Systems, 14, September, 2014.

• Plain text

  Vasu Raman. "Reactive Switching Protocols for
  Multi-Robot High-Level Tasks". IEEE/RSJ International
  Conference on Intelligent Robots and Systems, 14, September,
  2014.

• BibTeX

  @inproceedings{Raman14_ReactiveSwitchingProtocolsForMultiRobotHighLevelTasks,
      author = {Vasu Raman},
      title = {Reactive Switching Protocols for Multi-Robot
                High-Level Tasks},
      booktitle = {IEEE/RSJ International Conference on Intelligent
                Robots and Systems},
      day = {14},
      month = {September},
      year = {2014},
      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.},
      URL = {http://terraswarm.org/pubs/325.html}
  }
  

Posted by Vasu Raman on 22 Jun 2014.
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