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| Presentation | 2022-06-16 10:00 Path Planning of Heterogeneous Multi-robot Systems Satisfying a Counting Temporal Logics Constraint Kotaro Nagae, Toshimitsu Ushio (Osaka Univ.)  CAS2022-1 VLD2022-1 SIP2022-32 MSS2022-1 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | We propose a path planning method for heterogeneous multi-robot systems using counting temporal logic. The cLTL+ has enough expressive power to describe constraints in the path planning problem, where several different sequence of workflows is performed by robots concurrently, but as the number of robots increase, computation time it takes to solve the problem by transformed it into a mixed integer programming linear problem increases exponentially. On the other hand, cLTL can reduce the computation time but its expressive power is not enough to describe the sequence of workflows. In this report, we propose a simple description of transportation tasks and extend temporal discounting propositions. Then, we describe specifications using the syntax of cLTL. By simulation, it is shown that, by using the proposed description, it takes less computation time with less memory space than cLTL+ specifications to obtain an optimal plan. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Heterogeneous multi-robot systems / LTL / cLTL+ / cLTL / path planning / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 122, no. 78, MSS2022-1, pp. 1-6, June 2022. | |
| Paper # | MSS2022-1 | |
| Date of Issue | 2022-06-09 (CAS, VLD, SIP, MSS) | |
| ISSN | Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | CAS2022-1 VLD2022-1 SIP2022-32 MSS2022-1 |
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| Conference Information | |
| Committee | CAS SIP VLD MSS |
| Conference Date | 2022-06-16 - 2022-06-17 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Hachinohe Institute of Technology |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | MSS |
| Conference Code | 2022-06-CAS-SIP-VLD-MSS |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Path Planning of Heterogeneous Multi-robot Systems Satisfying a Counting Temporal Logics Constraint |
| Sub Title (in English) | |
| Keyword(1) | Heterogeneous multi-robot systems |
| Keyword(2) | LTL |
| Keyword(3) | cLTL+ |
| Keyword(4) | cLTL |
| Keyword(5) | path planning |
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| Keyword(8) | |
| 1st Author's Name | Kotaro Nagae |
| 1st Author's Affiliation | Osaka University (Osaka Univ.) |
| 2nd Author's Name | Toshimitsu Ushio |
| 2nd Author's Affiliation | Osaka University (Osaka Univ.) |
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| Speaker | Author-1 |
| Date Time | 2022-06-16 10:00:00 |
| Presentation Time | 25 minutes |
| Registration for | MSS |
| Paper # | CAS2022-1, VLD2022-1, SIP2022-32, MSS2022-1 |
| Volume (vol) | vol.122 |
| Number (no) | no.75(CAS), no.76(VLD), no.77(SIP), no.78(MSS) |
| Page | pp.1-6 |
| #Pages | 6 |
| Date of Issue | 2022-06-09 (CAS, VLD, SIP, MSS) |
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