Decentralized Control of Robotic Swarms from High-Level Temporal Logic Specifications

TitleDecentralized Control of Robotic Swarms from High-Level Temporal Logic Specifications
Publication TypeConference Paper
Year of Publication2017
AuthorsMoarref, S, Kress-Gazit, H
Conference NameInternational Symposium on Multi-Robot and Multi-Agent Systems
PublisherIEEE
Conference LocationLos 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.

 

Citation Key2017