文章基本信息

标题：Multi-Agent Motion Planning and Object Transportation under High Level Goals
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作者：Christos K. Verginis ; Dimos V. Dimarogonas
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：15816-15821
DOI：10.1016/j.ifacol.2017.08.2325
语种：English
出版社：Elsevier
摘要：AbstractThis 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.
关键词：KeywordsMulti-agent systemsRobotic manipulatorsCooperative navigationNonlinear cooperative controlTemporal logics