Distributed Motion Coordination for Multirobot Systems Under LTL Specifications

This article investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is subject to both state and input constraints and can have...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	IEEE transactions on robotics Jg. 38; H. 2; S. 1047 - 1062
Hauptverfasser:	Yu, Pian, Dimarogonas, Dimos V.
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.04.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Algorithms Collision avoidance Collision dynamics Conflict resolution Constraints Coordination distributed control motion coordination Multiple robots multirobot systems Planning Robot dynamics Robot kinematics Robot sensing systems Robots Safety Specifications Strategy Temporal logic Trajectory Workspace
ISSN:	1552-3098, 1941-0468, 1941-0468
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Abstract	This article investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is subject to both state and input constraints and can have only local view and local information, a fully distributed multirobot motion coordination strategy is proposed. For each robot, the motion coordination strategy consists of three layers. An offline layer precomputes the braking area for each region in the workspace, the controlled transition system, and a so-called potential function. An initialization layer outputs an initially safely satisfying trajectory. An online coordination layer resolves conflicts when one occurs. The online coordination layer is further decomposed into three steps. First, a conflict detection algorithm is implemented, which detects conflicts with neighboring robots. Whenever conflicts are detected, a rule is designed to assign dynamically a planning order to each pair of neighboring robots. Finally, a sampling-based algorithm is designed to generate local collision-free trajectories for the robot, which at the same time guarantees the feasibility of the specification. Safety is proven to be guaranteed for all robots at any time. The effectiveness and the computational tractability of the resulting solution is verified numerically by two case studies.
AbstractList	This article investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is subject to both state and input constraints and can have only local view and local information, a fully distributed multirobot motion coordination strategy is proposed. For each robot, the motion coordination strategy consists of three layers. An offline layer precomputes the braking area for each region in the workspace, the controlled transition system, and a so-called potential function. An initialization layer outputs an initially safely satisfying trajectory. An online coordination layer resolves conflicts when one occurs. The online coordination layer is further decomposed into three steps. First, a conflict detection algorithm is implemented, which detects conflicts with neighboring robots. Whenever conflicts are detected, a rule is designed to assign dynamically a planning order to each pair of neighboring robots. Finally, a sampling-based algorithm is designed to generate local collision-free trajectories for the robot, which at the same time guarantees the feasibility of the specification. Safety is proven to be guaranteed for all robots at any time. The effectiveness and the computational tractability of the resulting solution is verified numerically by two case studies.
Author	Yu, Pian Dimarogonas, Dimos V.
Author_xml	– sequence: 1 givenname: Pian orcidid: 0000-0001-6046-7129 surname: Yu fullname: Yu, Pian email: piany@kth.se organization: School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden – sequence: 2 givenname: Dimos V. orcidid: 0000-0001-7309-8086 surname: Dimarogonas fullname: Dimarogonas, Dimos V. email: dimos@kth.se organization: School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden
BackLink	https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-312133$$DView record from Swedish Publication Index (Kungliga Tekniska Högskolan)
BookMark	eNp9kM1LAzEQxYMoWKt3wcuC56352mRzlPoJLQWtXsNmd6Kp7aYmWaT_vWurHjx4mhn4vZk37wjtt74FhE4JHhGC1cX8YTaimJIRw2UpBd9DA6I4yTEX5X7fFwXNGVblITqKcYEx5QqzAZpduZiCM12CJpv65Hybjb0PjWur7WB9yKbdMrngjU_Z4yYmWMXsqW0gZJP5JHtcQ-2sq7d4PEYHtlpGOPmuQ_R0cz0f3-WT2e39-HKS10ySlCtaWcMrxpiypSQgG9UYLqQiJTdNIQsLFAgIEIqYHmhIbUphqcGNoMJYNkT5bm_8gHVn9Dq4VRU22ldOX7nnS-3Di35Lr5oRSvozQ3S-49fBv3cQk174LrS9RU0Fl5wWpZQ9JXZUHXyMAayuXdo-lkLllppg_RW27sPWX2Hr77B7If4j_DH0j-RsJ3EA8IsrLhmmin0CSe6Mqg
CODEN	ITREAE
CitedBy_id	crossref_primary_10_2478_bipie_2023_0015 crossref_primary_10_1016_j_arcontrol_2024_100940 crossref_primary_10_1109_TASE_2024_3418409 crossref_primary_10_1177_02783649241278372 crossref_primary_10_1016_j_ifacol_2023_10_416 crossref_primary_10_1017_S0263574722001515 crossref_primary_10_1109_LRA_2024_3412589 crossref_primary_10_1109_TCST_2024_3494392 crossref_primary_10_1109_TSMC_2025_3571743 crossref_primary_10_1109_TAC_2023_3267397 crossref_primary_10_1177_02783649251315758 crossref_primary_10_1109_TIV_2023_3283055 crossref_primary_10_1109_TRO_2023_3319894 crossref_primary_10_1109_TASE_2025_3553498 crossref_primary_10_1109_LRA_2023_3269295 crossref_primary_10_1109_TAC_2024_3386024 crossref_primary_10_3390_robotics11050094 crossref_primary_10_1109_TASE_2025_3532023 crossref_primary_10_1177_02783649241247285 crossref_primary_10_1109_LRA_2024_3408486 crossref_primary_10_1109_TRO_2025_3598139
Cites_doi	10.1007/978-0-387-30440-3_344 10.1109/ICRA.2014.6907210 10.1007/978-1-4615-4022-9 10.1177/0278364920913922 10.1016/j.compchemeng.2008.08.006 10.1016/j.robot.2006.06.003 10.1109/TRO.2017.2659727 10.1007/s10514-017-9665-6 10.1016/B978-0-444-88074-1.50021-4 10.1007/978-1-4613-8928-6_23 10.1109/ROBOT.2002.1013625 10.1177/0278364913487931 10.23919/ACC45564.2020.9147740 10.1109/IROS.2013.6697051 10.1109/ICARCV.2018.8581194 10.1109/TAC.2007.914952 10.15607/RSS.2013.IX.031 10.1109/LCSYS.2017.2710943 10.1177/0278364915594679 10.1109/ROBOT.1997.606881 10.1177/0278364914546174 10.1007/978-3-642-13408-1_7 10.1109/ROBOT.1990.125937 10.1109/TIV.2017.2788209 10.1109/CDC.2016.7798530 10.5772/57313 10.1109/CDC.2017.8263808 10.1109/TRO.2007.909810 10.1016/S0921-8890(02)00256-7 10.1109/ROBIO.2018.8665080 10.1109/TCST.2012.2231866 10.1109/ICRA.2014.6907486 10.1109/TRO.2019.2957669 10.1609/aaai.v26i1.8435 10.1109/TCST.2018.2828380 10.1007/3-540-44585-4_6 10.1007/978-1-4613-8997-2_29 10.1177/0278364918783054 10.1109/ROBOT.2004.1302413
ContentType	Journal Article
Copyright	Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022
Copyright_xml	– notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022
DBID	97E RIA RIE AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D ADTPV AFDQA AOWAS D8T D8V ZZAVC
DOI	10.1109/TRO.2021.3088764
DatabaseName	IEEE Xplore (IEEE) IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Electronic Library (IEL) CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional SwePub SWEPUB Kungliga Tekniska Högskolan full text SwePub Articles SWEPUB Freely available online SWEPUB Kungliga Tekniska Högskolan SwePub Articles full text
DatabaseTitle	CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional
DatabaseTitleList	Technology Research Database
Database_xml	– sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher
DeliveryMethod	fulltext_linktorsrc
Discipline	Engineering
EISSN	1941-0468
EndPage	1062
ExternalDocumentID	oai_DiVA_org_kth_312133 10_1109_TRO_2021_3088764 9473029
Genre	orig-research
GrantInformation_xml	– fundername: ERC project LEAFHOUND – fundername: Swedish Foundation for Strategic Research – fundername: Vetenskapsrådet; Swedish Research Council funderid: 10.13039/501100004359 – fundername: EU project CANOPIES – fundername: Knut och Alice Wallenbergs Stiftelse; Knut and Alice Wallenberg Foundation funderid: 10.13039/501100004063
GroupedDBID	.DC 0R~ 29I 4.4 5GY 5VS 6IK 97E AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFO ACIWK AENEX AETIX AGQYO AGSQL AHBIQ AIBXA AKJIK AKQYR ALMA_UNASSIGNED_HOLDINGS ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD F5P HZ~ H~9 IFIPE IPLJI JAVBF LAI M43 MS~ O9- OCL P2P PQQKQ RIA RIE RNS VJK AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D ADTPV AFDQA AOWAS D8T D8V ZZAVC
ID	FETCH-LOGICAL-c371t-92afb4a3339f871e7d9db4679184bd575fe2e1e6e691b871d1cb86f2b0d626bf3
IEDL.DBID	RIE
ISICitedReferencesCount	27
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000733471700001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	1552-3098 1941-0468
IngestDate	Tue Nov 04 16:58:35 EST 2025 Sun Nov 09 08:48:52 EST 2025 Sat Nov 29 01:47:28 EST 2025 Tue Nov 18 21:24:09 EST 2025 Wed Aug 27 02:40:50 EDT 2025
IsDoiOpenAccess	false
IsOpenAccess	true
IsPeerReviewed	true
IsScholarly	true
Issue	2
Language	English
License	https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html https://doi.org/10.15223/policy-029 https://doi.org/10.15223/policy-037
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c371t-92afb4a3339f871e7d9db4679184bd575fe2e1e6e691b871d1cb86f2b0d626bf3
Notes	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14
ORCID	0000-0001-7309-8086 0000-0001-6046-7129
OpenAccessLink	https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-312133
PQID	2647425877
PQPubID	27625
PageCount	16
ParticipantIDs	crossref_citationtrail_10_1109_TRO_2021_3088764 crossref_primary_10_1109_TRO_2021_3088764 ieee_primary_9473029 proquest_journals_2647425877 swepub_primary_oai_DiVA_org_kth_312133
PublicationCentury	2000
PublicationDate	2022-04-01
PublicationDateYYYYMMDD	2022-04-01
PublicationDate_xml	– month: 04 year: 2022 text: 2022-04-01 day: 01
PublicationDecade	2020
PublicationPlace	New York
PublicationPlace_xml	– name: New York
PublicationTitle	IEEE transactions on robotics
PublicationTitleAbbrev	TRO
PublicationYear	2022
Publisher	IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml	– name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References	ref13 ref35 ref12 ref15 ref37 ref14 ref36 ref31 ref30 ref11 ref33 ref32 ref2 ref1 ref17 ref39 ref16 ref38 ref19 ref18 LaValle (ref29) 2001 ref24 ref23 ref26 Bekey (ref10) 2005 ref25 ref20 ref42 ref41 ref21 Nie (ref34) 2018 ref43 Baier (ref22) 2008 ref28 ref27 ref8 ref7 ref9 ref4 ref3 ref6 ref5 ref40
References_xml	– ident: ref2 doi: 10.1007/978-0-387-30440-3_344 – ident: ref4 doi: 10.1109/ICRA.2014.6907210 – ident: ref27 doi: 10.1007/978-1-4615-4022-9 – volume-title: Autonomous Robots: From Biological Inspiration to Implementation and Control year: 2005 ident: ref10 – ident: ref18 doi: 10.1177/0278364920913922 – ident: ref33 doi: 10.1016/j.compchemeng.2008.08.006 – ident: ref13 doi: 10.1016/j.robot.2006.06.003 – volume-title: IFAC Secretariat year: 2018 ident: ref34 article-title: ICLOCS2: Solve your optimal control problems with less pain – ident: ref7 doi: 10.1109/TRO.2017.2659727 – volume-title: Principles of Model Checking year: 2008 ident: ref22 – ident: ref19 doi: 10.1007/s10514-017-9665-6 – ident: ref26 doi: 10.1016/B978-0-444-88074-1.50021-4 – ident: ref23 doi: 10.1007/978-1-4613-8928-6_23 – ident: ref12 doi: 10.1109/ROBOT.2002.1013625 – ident: ref15 doi: 10.1177/0278364913487931 – ident: ref21 doi: 10.23919/ACC45564.2020.9147740 – ident: ref25 doi: 10.1109/IROS.2013.6697051 – ident: ref38 doi: 10.1109/ICARCV.2018.8581194 – ident: ref43 doi: 10.1109/TAC.2007.914952 – ident: ref32 doi: 10.15607/RSS.2013.IX.031 – ident: ref8 doi: 10.1109/LCSYS.2017.2710943 – ident: ref37 doi: 10.1177/0278364915594679 – ident: ref11 doi: 10.1109/ROBOT.1997.606881 – ident: ref20 doi: 10.1177/0278364914546174 – ident: ref31 doi: 10.1007/978-3-642-13408-1_7 – ident: ref35 doi: 10.1109/ROBOT.1990.125937 – ident: ref14 doi: 10.1109/TIV.2017.2788209 – ident: ref6 doi: 10.1109/CDC.2016.7798530 – ident: ref1 doi: 10.5772/57313 – ident: ref16 doi: 10.1109/CDC.2017.8263808 – ident: ref9 doi: 10.1109/TRO.2007.909810 – ident: ref40 doi: 10.1016/S0921-8890(02)00256-7 – ident: ref41 doi: 10.1109/ROBIO.2018.8665080 – ident: ref5 doi: 10.1109/TCST.2012.2231866 – ident: ref39 doi: 10.1109/ICRA.2014.6907486 – ident: ref17 doi: 10.1109/TRO.2019.2957669 – ident: ref28 doi: 10.1609/aaai.v26i1.8435 – ident: ref36 doi: 10.1109/TCST.2018.2828380 – ident: ref24 doi: 10.1007/3-540-44585-4_6 – ident: ref3 doi: 10.1007/978-1-4613-8997-2_29 – ident: ref42 doi: 10.1177/0278364918783054 – ident: ref30 doi: 10.1109/ROBOT.2004.1302413 – start-page: 293 issue: 5 volume-title: Algorithmic Comput. Robot. New Directions year: 2001 ident: ref29 article-title: Rapidly-exploring random trees: Progress and prospects
SSID	ssj0024903
Score	2.524035
Snippet	This article investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear...
SourceID	swepub proquest crossref ieee
SourceType	Open Access Repository Aggregation Database Enrichment Source Index Database Publisher
StartPage	1047
SubjectTerms	Algorithms Collision avoidance Collision dynamics Conflict resolution Constraints Coordination distributed control motion coordination Multiple robots multirobot systems Planning Robot dynamics Robot kinematics Robot sensing systems Robots Safety Specifications Strategy Temporal logic Trajectory Workspace
Title	Distributed Motion Coordination for Multirobot Systems Under LTL Specifications
URI	https://ieeexplore.ieee.org/document/9473029 https://www.proquest.com/docview/2647425877 https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-312133
Volume	38
WOSCitedRecordID	wos000733471700001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVIEE databaseName: IEEE Electronic Library (IEL) customDbUrl: eissn: 1941-0468 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0024903 issn: 1941-0468 databaseCode: RIE dateStart: 20040101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3LSsQwFL3o4EIXvsXxRRYiCNZpk9j2LsUHLsYHMoq7MGkSHJSpjB2_35u0MyqI4K6LJC05SXNPknsOwL4sRCEykUYFFy6i9bpPcy6XEc-dxZxnDsMF2cdudnOTPz3h3QwcTXNhrLXh8pk99o_hLN-UxdhvlXVQ0njkOAuzWZbWuVpfunoYXJC9olgkYswnR5Ixdnr3t0QEeXIs_JRK5Y8lKHiq_Awvv0uGhmXmcul_H7gMi004yU5r_Fdgxg5XYeGbyOAa3J57bVxva2UNuw6mPeysJM45qDcCGYWtLOThjkpdVqzRMGfBEYl1e10WPOrdZHNvHR4uL3pnV1FjoxARCkkVIe87LftCCHREj2xm0Gj6PyKRO20oXHOW28SmNsVEUwGTFDpPHdexIbajndiA1rAc2k1gBiVPTJprEUtiVt4uRssTtCglvaNftKEz6VlVNBrj3uriVQWuEaMiLJTHQjVYtOFwWuOt1tf4o-ya7_Jpuaa327AzAU81E_BdUZxHpP8kz7I2HNSATut5Re3zweOpIuzUS_WshNe1E1u_N78N89ynPITbOjvQqkZjuwtzxUc1eB_thUH4CQ4O2Wo
linkProvider	IEEE
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1dS-QwFL2ou6A-uLt-4PiZh0UQrNMmse19FD9QrKPIKL6FSZOww8pUxurv9ybTGRVE8K0PSVpykuaeJPccgL-yFKXIRBqVXLiI1usezblcRjx3FnOeOQwXZO-KrNPJ7-_xegr2Jrkw1tpw-czu-8dwlm-q8tlvlbVR0njkOA0_vHNWk631pqyHwQfZa4pFIsZ8fCgZY7t7c0VUkCf7wk-qVH5YhIKryscA871oaFhoTn997xN_w0ITULLD0Qj4A1N2sAjz72QGl-Dq2KvjemMra9hlsO1hRxWxzv5oK5BR4MpCJu6w0lXNGhVzFjyRWNEtWHCpd-PtvWW4PT3pHp1FjZFCRDgkdYS857TsCSHQEUGymUGj6Q-JRO-0oYDNWW4Tm9oUE00FTFLqPHVcx4b4jnZiBWYG1cCuAjMoeWLSXItYErfyhjFaHqBFKekdvbIF7XHPqrJRGfdmFw8qsI0YFWGhPBaqwaIFu5MajyOFjS_KLvkun5RrersFG2PwVDMFnxRFekT7D_Isa8HOCNBJPa-pfdy_O1SEnfpf_1PCK9uJtc-b34bZs-5loYrzzsU6zHGfABHu7mzATD18tpvws3yp-0_DrTAgXwGISdyz
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Distributed+Motion+Coordination+for+Multirobot+Systems+Under+LTL+Specifications&rft.jtitle=IEEE+transactions+on+robotics&rft.au=Yu%2C+Pian&rft.au=Dimarogonas%2C+Dimos+V.&rft.date=2022-04-01&rft.issn=1941-0468&rft.volume=38&rft.issue=2&rft.spage=1047&rft_id=info:doi/10.1109%2Ftro.2021.3088764&rft.externalDocID=oai_DiVA_org_kth_312133
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1552-3098&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1552-3098&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1552-3098&client=summon