Multirobot Coordination With Counting Temporal Logics Article Swipe
Yunus Emre Sahin
,
Petter Nilsson
,
Necmiye Özay
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1109/tro.2019.2957669
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1109/tro.2019.2957669
In many multirobot applications, planning trajectories in a way to guarantee that the collective behavior of the robots satisfies a certain high-level specification is crucial. Motivated by this problem, we introduce counting temporal logics---formal languages that enable concise expression of multirobot task specifications over possibly infinite horizons. We first introduce a general logic called counting linear temporal logic plus (cLTL+), and propose an optimization-based method that generates individual trajectories such that satisfaction of a given cLTL+ formula is guaranteed when these trajectories are synchronously executed. We then introduce a fragment of cLTL+, called counting linear temporal logic (cLTL), and show that a solution to planning problem with cLTL constraints can be obtained more efficiently if all robots have identical dynamics. In the second part of the paper, we relax the synchrony assumption and discuss how to generate trajectories that can be asynchronously executed, while preserving the satisfaction of the desired cLTL+ specification. In particular, we show that when the asynchrony between robots is bounded, the method presented in this paper can be modified to generate robust trajectories. We demonstrate these ideas with an experiment and provide numerical results that showcase the scalability of the method.
Related Topics
Concepts
Linear temporal logic
Computer science
Temporal logic
Scalability
Robot
Bounded function
Fragment (logic)
Asynchrony (computer programming)
Theoretical computer science
Linear logic
Model checking
Artificial intelligence
Algorithm
Mathematics
Asynchronous communication
Database
Computer network
Mathematical analysis
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- https://doi.org/10.1109/tro.2019.2957669
- OA Status
- green
- Cited By
- 3
- References
- 56
- Related Works
- 20
- OpenAlex ID
- https://openalex.org/W2898929447
All OpenAlex metadata
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https://openalex.org/W2898929447Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1109/tro.2019.2957669Digital Object Identifier
- Title
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Multirobot Coordination With Counting Temporal LogicsWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2019Year of publication
- Publication date
-
2019-12-24Full publication date if available
- Authors
-
Yunus Emre Sahin, Petter Nilsson, Necmiye ÖzayList of authors in order
- Landing page
-
https://doi.org/10.1109/tro.2019.2957669Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/1810.13087Direct OA link when available
- Concepts
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Linear temporal logic, Computer science, Temporal logic, Scalability, Robot, Bounded function, Fragment (logic), Asynchrony (computer programming), Theoretical computer science, Linear logic, Model checking, Artificial intelligence, Algorithm, Mathematics, Asynchronous communication, Database, Computer network, Mathematical analysisTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
3Total citation count in OpenAlex
- Citations by year (recent)
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2024: 1, 2020: 2Per-year citation counts (last 5 years)
- References (count)
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56Number of works referenced by this work
- Related works (count)
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20Other works algorithmically related by OpenAlex
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