Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams
<|reference_start|>Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams: We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^\psi, which uses the concept of bindings to interleave robot actions and express information about relationship between specific task requirements and robot assignments. We present a synthesis approach to automatically generate a teaming assignment and corresponding discrete behavior that is correct-by-construction for continuous execution, while also implementing synchronization policies to ensure collaborative portions of the task are satisfied. We demonstrate our approach on a physical multi-robot system.<|reference_end|>
@article{fang2024continuous,
    title={Continuous Execution of High-Level Collaborative Tasks for Heterogeneous
  Robot Teams},
    author={Amy Fang, Tenny Yin, Jiawei Lin, Hadas Kress-Gazit},
    journal={arXiv preprint arXiv:2406.18019},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.18019},
    primaryClass={cs.RO}
}