時相論理制約下でのマルチロボット最適経路計画
Optimal Multi-Robot Path Planning with Temporal Logic Constraints
複数ロボットが共通の時相論理ミッションを満たしつつ、最適化命題の達成間隔の最大値を最小化する最適経路を自動計画する手法を提案した。
著者: Alphan Ulusoy, Stephen L. Smith, Xu Chu Ding, Calin Belta, Daniela Rus
分類: cs.RO
原文アブストラクト
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The mission is given as a Linear Temporal Logic formula. In addition, an optimizing proposition must repeatedly be satisfied. The goal is to minimize the maximum time between satisfying instances of the optimizing proposition. Our method is guaranteed to compute an optimal set of robot paths. We utilize a timed automaton representation in order to capture the relative position of the robots in the environment. We then obtain a bisimulation of this timed automaton as a finite transition system that captures the joint behavior of the robots and apply our earlier algorithm for the single robot case to optimize the group motion. We present a simulation of a persistent monitoring task in a road network environment.
