论文标题
在时间逻辑任务和不确定动态下的多机器人对象系统的计划和控制
Planning and Control of Multi-Robot-Object Systems under Temporal Logic Tasks and Uncertain Dynamics
论文作者
论文摘要
我们开发了一种算法，用于在表示为线性时间逻辑（LTL）约束的任务下由多个机器人和未发动对象组成的系统的运动和任务计划。机器人和对象会在障碍物整洁的环境中发展出不确定的动态。提出的解决方案的关键部分是智能构造的耦合过渡系统，该系统编码机器人和对象的运动和任务。我们通过在较低级别设计适当的自适应控制协议来实现这种结构，从而保证了在环境中安全的机器人导航/对象运输，同时补偿动态不确定性。过渡系统通过基于采样的算法有效地与时间逻辑规范相连，以输出离散路径作为机器人同步动作的序列；这样的动作满足机器人的规格以及对象的规格。机器人通过使用派生的低级控制协议执行此离散路径。仿真结果验证了提出的框架。
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain dynamics in an obstacle-cluttered environment. The key part of the proposed solution is the intelligent construction of a coupled transition system that encodes the motion and tasks of the robots and the objects. We achieve such a construction by designing appropriate adaptive control protocols in the lower level, which guarantee the safe robot navigation/object transportation in the environment while compensating for the dynamic uncertainties. The transition system is efficiently interfaced with the temporal logic specification via a sampling-based algorithm to output a discrete path as a sequence of synchronized actions of the robots; such actions satisfy the robots' as well as the objects' specifications. The robots execute this discrete path by using the derived low level control protocol. Simulation results verify the proposed framework.
