Christopher Banks

2 accepted papers

2020

Multi-Agent Task Allocation using Cross-Entropy Temporal Logic Optimization

Christopher Banks, Sean Wilson, Samuel Coogan, Magnus Egerstedt

ICRA 2020poster

In this paper, we propose a graph-based search method to optimally allocate tasks to a team of robots given a global task specification. In particular, we define these agents as discrete transition systems. In order to allocate tasks to the team of robots, we decompose finite linear temporal logic (…

Cited by 37 Source ↗Scholar ↗

2019

Specification-Based Maneuvering of Quadcopters Through Hoops

Christopher Banks, Kyle Slovak, Samuel Coogan, Magnus Egerstedt

IROS 2019poster

In this paper, we study the problem of navigating quadcopters through a sequence of hoops. The specification may be given directly or indirectly via a linear temporal logic (LTL) formula. We approach this problem in three phases. First, we introduce a planner that generates a path through a given se…

Cited by 2 Source ↗Scholar ↗