Planning of Heterogeneous Multi-Agent Systems Under Signal Temporal Logic Specifications With Integral Predicates

We address the problem of coordinating the trajectories of heterogeneous multi-agent systems under spatio-temporal specifications. In particular, we consider global Signal Temporal Logic (STL) constraints to express the number and type of agents that should be present at specific locations within th...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 6; H. 2; S. 1375 - 1382
Hauptverfasser:	Buyukkocak, Ali Tevfik, Aksaray, Derya, Yazcoglu, Yasin
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.04.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Aerodynamics Formal methods in robotics and automation Integrals Mixed integer Multi-agent systems multi-robot systems Multiagent systems optimization and optimal control Planning Robot kinematics Robustness Specifications Task analysis Temporal logic Trajectory Trajectory optimization Windows (intervals)
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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