| Title | Decentralized Control of Robotic Swarms from High-Level Temporal Logic Specifications |
| Publication Type | Conference Paper |
| Year of Publication | 2017 |
| Authors | Moarref, S, Kress-Gazit, H |
| Conference Name | International Symposium on Multi-Robot and Multi-Agent Systems |
| Conference Location | Los Angeles, California |
| Abstract |
Work in swarm robotics typically focuses on the bottom-up design of local rules for individual robots that create emergent swarm behaviors.
In this paper, we take a top-down approach and consider the following problem:
how can we specify a desired collective behavior and automatically synthesize decentralized controllers that can be distributed over robots to achieve the collective objective in a provably correct way?
We propose a formal specification language for the high-level description of swarm behaviors
on both swarm and individual levels.
We present algorithms for automated synthesis of \emph{decentralized} controllers and synchronization skeletons that describe how groups of robots must coordinate to satisfy the specification.
We demonstrate our algorithms on a case study.
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| Citation Key | MoarrefMRS2017 |