異種ロボットチームによる高レベル協調タスクの連続実行
Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams
LTL^ψという離散論理でタスクを記述し、異種マルチロボットシステムの役割分担と行動を自動合成して、協調部分を同期させながら連続実行する枠組みを提案し、実機で実証した。
著者: Amy Fang, Tenny Yin, Jiawei Lin, Hadas Kress-Gazit
分類: cs.RO
原文アブストラクト
We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^\psi, which uses the concept of bindings to interleave robot actions and express information about relationship between specific task requirements and robot assignments. We present a synthesis approach to automatically generate a teaming assignment and corresponding discrete behavior that is correct-by-construction for continuous execution, while also implementing synchronization policies to ensure collaborative portions of the task are satisfied. We demonstrate our approach on a physical multi-robot system.
