Multi-Agent Motion Planning and Object Transportation under High Level Goals*. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Verginis, Christos K.; Dimarogonas, Dimos V.
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 15816
• Page End: 15821
• Publication Date: 2017-07
• Subjects: Multi-agent systems -- Robotic manipulators -- Cooperative navigation -- Nonlinear cooperative control -- Temporal logics; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.2325
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the agents as well as the transportation of the objects by the agents, among predefined regions of interest in the workspace. This allows us to abstract the coupled behavior of the agents and the objects as a finite transition system and to design a high-level multi-agent plan that satisfies the agents' and the objects' specifications, given as temporal logic formulas. Simulation results verify the proposed framework.