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Abstract
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.
Originalsprog | Engelsk |
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Titel | Proceedings of the IEEE 2004 International Conference on Robotics and Automation, New Orleans, LA. April 2004 |
Publikationsdato | 2004 |
Sider | 4417-4422 |
Status | Udgivet - 2004 |
Begivenhed | Multi-Robot Motion Planning: A Timed Automata Approach - Varighed: 19 maj 2010 → … |
Konference
Konference | Multi-Robot Motion Planning: A Timed Automata Approach |
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Periode | 19/05/2010 → … |
Projekter
- 1 Afsluttet
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Control of Multiple Autonomous Robots
Quottrup, M. M., Bak, T. & Izadi-Zamanabadi, R.
19/05/2010 → 01/06/2013
Projekter: Projekt › Forskning
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