Temporal Logic Planning and Control of Robotic Swarms by Hierarchical Abstractions

  title={Temporal Logic Planning and Control of Robotic Swarms by Hierarchical Abstractions},
  author={Marius Kloetzer and Calin Belta},
  journal={IEEE Transactions on Robotics},
We develop a hierarchical framework for planning and control of arbitrarily large groups (swarms) of fully actuated robots with polyhedral velocity bounds moving in polygonal environments with polygonal obstacles. At the first level of hierarchy, we aggregate the high-dimensional control system of the swarm into a small-dimensional control system capturing its essential features. These features describe the position of the swarm in the world and its size. At the second level, we reduce the… CONTINUE READING
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