The Worldwide Journal of Robotics Analysis, Forward of Print.
This paper presents a complete strategy for planning for groups of heterogeneous robots with completely different capabilities and the transportation of sources. We use Functionality Temporal Logic (CaTL), a proper language that helps specific duties involving robots with a number of capabilities with spatial, temporal, and logical constraints. We prolong CaTL to additionally seize useful resource constraints, the place sources may be divisible and indivisible, as an example, sand and bricks, respectively. Robots transport sources utilizing numerous storage sorts, akin to uniform (shared storage amongst sources) and compartmental (particular person storage per useful resource). Robots’ useful resource transportation capability is outlined primarily based on useful resource kind and robotic class. Robotic and useful resource dynamics and the CaTL mission are collectively encoded in a Blended Integer Linear Programming (MILP), which maximizes disjoint robotic and useful resource robustness whereas minimizing spurious motion of each. We suggest a multi-robustness strategy for Multi-Class Sign Temporal Logic (mcSTL), permitting for generalized quantitative semantics throughout a number of predicate courses. Thus, we compute availability robustness scores for robots and sources individually. Lastly, we conduct a number of experiments demonstrating performance and time efficiency by various sources and storage sorts.
发布者：Gustavo A. Cardona，转转请注明出处：https://robotalks.cn/planning-for-heterogeneous-teams-of-robots-with-temporal-logic-capability-and-resource-constraints/
