Automated Planning of Motion Tasks for Multi-Robot Systems

  title={Automated Planning of Motion Tasks for Multi-Robot Systems},
  author={S. G. Loizou and K. J. Kyriakopoulos},
  journal={Proceedings of the 44th IEEE Conference on Decision and Control},
In this paper we present an automated task planning methodology to automatically compose multi-robot motion tasks. A motion task is defined as an input-output module. Primitive motion tasks represented as modules (called primitive modules) are defined based on Linear Temporal Logic specifications. The task planning is then considered as a composition over compatible primitive modules in such a way that the inverted motion task module and the primitive modules form a closed chain. The problem is… CONTINUE READING
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