Temporal Task Planning and Intermittent Communication Control of Mobile Robot Networks

06/02/2017
by   Yiannis Kantaros, et al.
0

In this paper, we develop a decentralized intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the collected information with all other robots and possibly also with a user. Specifically, we consider situations where the robot communication capabilities are not sufficient to form reliable and connected networks while the robots move to accomplish their tasks. In this case, intermittent communication protocols are necessary that allow the robots to temporarily disconnect from the network in order to accomplish their tasks free of communication constraints. We assume that the robots can only communicate with each other when they meet at common locations in space. Our decentralized control framework jointly determines local plans that allow all robots fulfill their assigned temporal tasks, sequences of communication events that guarantee information exchange infinitely often, and optimal communication locations that minimize a user-specified metric. Simulation and experimental results verify the efficacy of the proposed controllers.

READ FULL TEXT

page 5

page 6

page 8

page 11

page 13

page 14

page 15

page 18

research
04/29/2018

Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks

In this paper, we present a control framework that allows magnetic micro...
research
05/03/2018

Distributed State Estimation Using Intermittently Connected Robot Networks

This paper considers the problem of distributed state estimation using m...
research
09/30/2021

Coverage Control in Multi-Robot Systems via Graph Neural Networks

This paper develops a decentralized approach to mobile sensor coverage b...
research
01/26/2022

Behavior Tree-Based Asynchronous Task Planning for Multiple Mobile Robots using a Data Distribution Service

In this study, we propose task planning framework for multiple robots th...
research
09/01/2020

Distributed Locally Non-interfering Connectivity via Linear Temporal Logic

In this paper, we consider networks of static sensors with integrated se...
research
06/07/2017

Multi-Robot Data Gathering Under Buffer Constraints and Intermittent Communication

We consider a team of heterogeneous robots which are deployed within a c...
research
11/17/2022

Optimal Constrained Task Planning as Mixed Integer Programming

For robots to successfully execute tasks assigned to them, they must be ...

Please sign up or login with your details

Forgot password? Click here to reset