Automated Composition of Motion Primitives for Multi-Robot Systems from Safe LTL Specifications
Indranil Saha, Rattanachai Ramaithitima, Vijay Kumar, George Pappas, Sanjit Seshia

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

Citation formats  
  • 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.

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