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

@article{Moarref2017DecentralizedCO,
  title={Decentralized control of robotic swarms from high-level temporal logic specifications},
  author={Salar Moarref and Hadas Kress-Gazit},
  journal={2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
  year={2017},
  pages={17-23}
}
Work in swarm robotics typically focuses on the bottom-up design of local rules for individual robots that create emergent swarm behaviors. In this paper, we take a top-down approach and consider the following problem: how can we specify a desired collective behavior and automatically synthesize decentralized controllers that can be distributed over robots to achieve the collective objective in a provably correct way? We propose a formal specification language for the high-level description of… CONTINUE READING
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