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Decentralized Multi...
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Wang, WeiKTH,Robotik, perception och lärande, RPL
(författare)
Decentralized Multi-agent Coordination under MITL Tasks and Communication Constraints
- Artikel/kapitelEngelska2022
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Institute of Electrical and Electronics Engineers (IEEE),2022
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LIBRIS-ID:oai:DiVA.org:kth-319061
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https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-319061URI
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https://doi.org/10.1109/ICCPS54341.2022.00051DOI
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Språk:engelska
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Sammanfattning på:engelska
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Ämneskategori:kon swepub-publicationtype
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QC 20220927Part of proceedings: ISBN 978-1-6654-0967-4
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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.
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Schuppe, Georg Friedrich,1993-KTH,Robotik, perception och lärande, RPL(Swepub:kth)u1wdmreh
(författare)
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Tumova, JanaKTH,Robotik, perception och lärande, RPL(Swepub:kth)u19qofjk
(författare)
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KTHRobotik, perception och lärande, RPL
(creator_code:org_t)
Sammanhörande titlar
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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
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