Automated Task Updates of Temporal Logic Specifications for Heterogeneous Robots

Amy Fang; Hadas Kress-Gazit

ICRA 2022poster12 citations

Automated Task Updates of Temporal Logic Specifications for Heterogeneous Robots

Abstract

Given a heterogeneous group of robots executing a complex task represented in Linear Temporal Logic, and a new set of tasks for the group, we define the task update problem and propose a framework for automatically updating individual robot tasks given their respective existing tasks and capabilities. Our heuristic, token-based, conflict resolution task allocation algorithm generates a near-optimal assignment for the new task. We demonstrate the scalability of our approach through simulations of multi-robot tasks.

BibTeX

@inproceedings{icra2022_automatedtaskupd,
  title = {Automated Task Updates of Temporal Logic Specifications for Heterogeneous Robots},
  author = {Amy Fang and Hadas Kress-Gazit},
  booktitle = {ICRA 2022},
  year = {2022}
}