The Worldwide Journal of Robotics Analysis, Forward of Print.
Current strategies for the duty allocation and planning (TAP) of multi-robot programs with temporal logic specs primarily depend on optimization-based approaches or graph search methods utilized to the product automaton. Nonetheless, these strategies undergo from excessive computational value and scale poorly with the variety of robots and the complexity of temporal logic duties, thus limiting the applicability in real-time implementation, particularly for big multi-robot programs. To deal with these challenges, this work develops a novel TAP framework that may clear up reactive temporal logic planning issues for large-scale heterogeneous multi-robot programs (HMRS) in actual time. Particularly, we develop a planning determination tree (PDT) to characterize the duty development and process allocation specialised for HMRS with temporal logic specs. Based mostly on the PDT, we develop two key search algorithms—the planning determination tree search (PDTS) and the interactive planning determination tree search (IPDTS)—the place PDTS generates an offline plan which might be modified on-line by PDTS and IPDTS collectively to allow quick reactive planning if environmental adjustments or non permanent duties happen. Such a design can generate satisfying plan for HMRS with a number of orders of magnitude extra robots than people who present strategies can manipulate. Rigorous evaluation exhibits that the PDT-based planning is possible (i.e., the generated plan is relevant) and full (i.e., a possible plan, if exits, is assured to be discovered). The algorithm complexity additional signifies that the answer time is simply linearly proportional to the robotic numbers and kinds. Simulation and experiment outcomes reveal that reactive plan will be generated for big HMRS in real-time, which outperforms the state-of-the-art strategies.
发布者：Ziyang Chen，转转请注明出处：https://robotalks.cn/real-time-reactive-task-allocation-and-planning-of-large-heterogeneous-multi-robot-systems-with-temporal-logic-specifications/
