Planning and control of multi-robot-object systems under temporal logic tasks and uncertain dynamics

We develop an algorithm for the motion and task planning of a system composed of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain dynamics in an obstacle-cluttered environment. The key part of...

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Veröffentlicht in:	Robotics and autonomous systems Jg. 174; S. 104646
Hauptverfasser:	Verginis, Christos K., Kantaros, Yiannis, Dimarogonas, Dimos V.
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier B.V 01.04.2024
Schlagworte:	Action planning Adaptive control Motion planning Multi-robot systems Temporal logics Motion planning Temporal logics Multi-robot systems Adaptive control Action planning
ISSN:	0921-8890, 1872-793X, 1872-793X
Online-Zugang:	Volltext
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