Multi-Robot Motion Planning: A Timed Automata Approach

Michael Melholt Quottrup, Thomas Bak, Roozbeh Izadi-Zamanabadi

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Abstrakt

This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar grid. The automata formalism merely presents a high-level model of environment, robots and control, but allows composition and formal symbolic reasoning about coordinated solutions. Composition is achieved through synchronization, and the verification software UPPAAL is used for a symbolic verification against specification requirements formulated in computational tree logic (CTL). In this way, all feasible trajectories that satisfy specifications and which moves the robots from a set of initial positions to a set of desired goal positions may be algorithmically analyzed. The trajectories can then subsequently be used as a high-level motion plan for the robots. This paper reports on the timed automata framework, results of two verification experiments, promise of the approach, and gives a perspective for future research.
OriginalsprogEngelsk
TitelProceedings of the IEEE 2004 International Conference on Robotics and Automation, New Orleans, LA. April 2004
Publikationsdato2004
Sider4417-4422
StatusUdgivet - 2004
BegivenhedMulti-Robot Motion Planning: A Timed Automata Approach -
Varighed: 19 maj 2010 → …

Konference

KonferenceMulti-Robot Motion Planning: A Timed Automata Approach
Periode19/05/2010 → …

Projekter

Control of Multiple Autonomous Robots

Quottrup, M. M., Bak, T. & Izadi-Zamanabadi, R.

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19/05/201001/06/2013

Projekter: ProjektForskning

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  • Citationsformater

    Quottrup, M. M., Bak, T., & Izadi-Zamanabadi, R. (2004). Multi-Robot Motion Planning: A Timed Automata Approach. I Proceedings of the IEEE 2004 International Conference on Robotics and Automation, New Orleans, LA. April 2004 (s. 4417-4422)