Decentralized control of robotic swarms from high-level temporal logic specifications

  title={Decentralized control of robotic swarms from high-level temporal logic specifications},
  author={Salar Moarref and H. Kress-Gazit},
  journal={2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
  • Salar Moarref, H. Kress-Gazit
  • Published 2017
  • Computer Science
  • 2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)
  • Work in swarm robotics typically focuses on the bottom-up design of local rules for individual robots that create emergent swarm behaviors. [...] Key Method We present algorithms for automated synthesis of decentralized controllers and synchronization skeletons that describe how groups of robots must coordinate to satisfy the specification. We demonstrate our algorithms on a case study.Expand Abstract
    Formal Specification and Verification of Autonomous Robotic Systems: A Survey
    • 42
    • PDF
    Robotics and Integrated Formal Methods: Necessity meets Opportunity
    • 23
    • PDF
    Verifiable Control of Robotic Swarm from High-level Specifications
    • 6
    • PDF
    Reactive Synthesis for Robotic Swarms
    • 6
    Prescribed Performance Control Guided Policy Improvement for Satisfying Signal Temporal Logic Tasks
    • 8
    • PDF
    Swarm Signal Temporal Logic Inference for Swarm Behavior Analysis
    • 7
    Multirobot Coordination With Counting Temporal Logics
    • 4
    • PDF
    Distributed Synthesis of Surveillance Strategies for Mobile Sensors
    • 3
    • PDF


    Publications referenced by this paper.
    Swarm robotics: a review from the swarm engineering perspective
    • 884
    • PDF
    Symbolic Boolean manipulation with ordered binary-decision diagrams
    • 2,063
    • PDF
    Synthesis of Reactive(1) Designs
    • 330
    • PDF
    Hierarchical abstractions for robotic swarms
    • 42
    • PDF
    The Robotarium: A remotely accessible swarm robotics research testbed
    • 151
    • Highly Influential
    • PDF
    Multi-robot deployment from LTL specifications with reduced communication
    • 49
    • PDF