Automatic control synthesis for swarm robots from formation and location-based high-level specifications

Ji Chen, Hanlin Wang, Michael Rubenstein, Hadas Kress-Gazit

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose an abstraction that captures high-level formation and location-based swarm behaviors, and an automated control synthesis framework to generate correct-by-construction behaviors. Our abstraction includes symbols representing both possible formations and physical locations in the workspace. We allow users to write linear temporal logic (LTL) specifications over the symbols to specify high-level tasks for the swarm. To satisfy a specification, we automatically synthesize a centralized symbolic plan, and environment and swarm-size-dependent motion controllers that are guaranteed to implement the symbolic transitions. In addition, using integer programming (IP), we assign robots to different sub-swarms to execute the synthesized symbolic plan. Our framework gives insights into controlling a large fleet of autonomous robots to achieve complex tasks which require composition of behaviors at different locations and coordination among different groups of robots in a correct-by-construction way. We demonstrate the proposed framework in simulation with 16 UAVs and 8 ground vehicles, and on a physical platform with 20 ground robots, showcasing the generality of the approach and discussing the implications of controlling constrained physical hardware.

Original languageEnglish (US)
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8027-8034
Number of pages8
ISBN (Electronic)9781728162126
DOIs
StatePublished - Oct 24 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: Oct 24 2020Jan 24 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
CountryUnited States
CityLas Vegas
Period10/24/201/24/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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