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Decentralized Multi...
Decentralized Multi-agent Coordination under MITL Tasks and Communication Constraints
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- Wang, Wei (författare)
- KTH,Robotik, perception och lärande, RPL
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- Schuppe, Georg Friedrich, 1993- (författare)
- KTH,Robotik, perception och lärande, RPL
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- Tumova, Jana (författare)
- KTH,Robotik, perception och lärande, RPL
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2022
- 2022
- Engelska.
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Ingår i: Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 320-321
- Relaterad länk:
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https://urn.kb.se/re...
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visa fler...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- We propose a decentralized framework to solve a coordination problem for multi-agent systems consisting of heterogeneous agents, each of which uses only local information based on limited sensing and communication capabilities. In the proposed method, slower heavy-duty robots are each assigned a task specification specified in metric interval temporal logic. These specifications express complex, time-bounded tasks that are potentially dependent on other agents' actions. Heavy-duty robots update their task plans upon receiving a cooperative request from other heavy-duty robots in order to complete cooperative tasks. These requests are transmitted by the more agile light-duty robots responsible for information exchange, which systematically pursue heavy-duty robots. Our work in progress aims to present the framework together with a set of assumptions under which the solution is complete. We also aim to evaluate the framework on a series of use cases motivated by search and rescue.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Nyckelord
- Decentralized Coordination
- Metric Interval Temporal Logic
- Communication Constraints
- Heterogeneous Multi-robot System
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)