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We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints.
T. G. Sugar and V. Kumar, “Control of cooperating mobile manipulators,” IEEE Transactions on robotics and automation , vol. 18, no. 1, pp. 94–103, 2002
2002
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H. G. Tanner, S. G. Loizou, and K. J. Kyriakopoulos, “Nonholonomic navigation and control of cooperating mobile manipulators,” IEEE Transactions on robotics and automation , vol. 19, no. 1, pp. 53–64, 2003
2003
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S. G. Loizou and K. J. Kyriakopoulos, “Automatic synthesis of multi-agent motion tasks based on ltl specifications,” IEEE Conference on Decision and Control (CDC) , vol. 1, pp. 153–158, 2004
2004
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C. Belta and V. Kumar, “Abstraction and control for groups of robots,” IEEE Transactions on robotics , vol. 20, no. 5, pp. 865–875, 2004
2004
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C. Belta, V. Isler, and G. J. Pappas, “Discrete abstractions for robot motion planning and control in polygonal environments,” IEEE Transactions on Robotics , vol. 21, no. 5, pp. 864–874, 2005
2005
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C. Makkar, W. Dixon, W. Sawyer, and G. Hu, “A new continuously differentiable friction model for control systems design,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics , pp. 600–605, 2005
2005
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C. Belta and L. C. Habets, “Controlling a class of nonlinear systems on rectangles,” IEEE Transactions on Automatic Control , vol. 51, no. 11, pp. 1749–1759, 2006
2006
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Y. Kume, Y. Hirata, and K. Kosuge, “Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 4077–4082, 2007
2007
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A. Tiwari, “Abstractions for hybrid systems,” Formal Methods in System Design , vol. 32, no. 1, pp. 57–83, 2008
2008
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C. Baier, J.-P. Katoen, and K. G. Larsen, Principles of model checking . MIT press, 2008
2008
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D. Z. Chen, “Sphere packing problem,” Encyclopedia of Algorithms , pp. 1–99, 2008
2008
Earlier work this paper cites.
G. E. Fainekos, A. Girard, H. Kress-Gazit, and G. J. Pappas, “Temporal logic motion planning for dynamic robots,” Automatica , vol. 45, no. 2, pp. 343–352, 2009
2009
Earlier work this paper cites.
A. Bhatia, M. R. Maly, L. E. Kavraki, and M. Y. Vardi, “Motion planning with complex goals,” IEEE Robotics & Automation Magazine , vol. 18, no. 3, pp. 55–64, 2011
2011
Earlier work this paper cites.
G. Reißig, “Computing abstractions of nonlinear systems,” IEEE Transactions on Automatic Control , vol. 56, no. 11, pp. 2583–2598, 2011
2011
Earlier work this paper cites.
S. L. Smith, J. Tumova, C. Belta, and D. Rus, “Optimal path planning for surveillance with temporal-logic constraints,” The International Journal of Robotics Research , vol. 30, no. 14, pp. 1695–1708, 2011
2011
Cited alongside, same era.
Y. Chen, X. C. Ding, A. Stefanescu, and C. Belta, “Formal approach to the deployment of distributed robotic teams,” IEEE Transactions on Robotics , vol. 28, no. 1, pp. 158–171, 2012
2012
Cited alongside, same era.
I. Filippidis, D. V. Dimarogonas, and K. J. Kyriakopoulos, “Decentralized multi-agent control from local ltl specifications,” IEEE Conference on Decision and Control (CDC) , pp. 6235–6240, 2012
2012
Cited alongside, same era.
M. R. Cutkosky, Robotic grasping and fine manipulation . Springer Science & Business Media, 2012, vol. 6
2012
Cited alongside, same era.
M. Lahijanian, M. R. Maly, D. Fried, L. E. Kavraki, H. Kress-Gazit, and M. Y. Vardi, “Iterative temporal planning in uncertain environments with partial satisfaction guarantees,” IEEE Transactions on Robotics , vol. 32, no. 3, pp. 583–599, 2016
2016
Later among the works it cites.
R. V. Cowlagi and Z. Zhang, “Motion-planning with linear temporal logic specifications for a nonholonomic vehicle kinematic model,” American Control Conference (ACC) , pp. 6411–6416, 2016
2016
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A.-N. Ponce-Hinestroza, J.-A. Castro-Castro, H.-I. Guerrero-Reyes, V. Parra-Vega, and E. Olguín-Díaz, “Cooperative redundant omnidirectional mobile manipulators: Model-free decentralized integral sliding modes and passive velocity fields,” IEEE International Conference on Robotics and Automation (ICRA) , pp. 2375–2380, 2016
2016
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S. Erhart and S. Hirche, “Model and analysis of the interaction dynamics in cooperative manipulation tasks,” IEEE Transactions on Robotics , vol. 32, no. 3, pp. 672–683, 2016
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2013
Cited alongside, same era.
F. Ficuciello, A. Romano, L. Villani, and B. Siciliano, “Cartesian impedance control of redundant manipulators for human-robot co-manipulation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 2120–2125, 2014
2014
Cited alongside, same era.
A. Ulusoy, S. L. Smith, and C. Belta, “Optimal multi-robot path planning with ltl constraints: guaranteeing correctness through synchronization,” in Distributed Autonomous Robotic Systems . Springer, 2014, pp. 337–351
2014
Cited alongside, same era.
Y. Diaz-Mercado, A. Jones, C. Belta, and M. Egerstedt, “Correct-by-construction control synthesis for multi-robot mixing,” IEEE Conference on Decision and Control (CDC) , pp. 221–226, 2015
2015
Cited alongside, same era.
M. Guo and D. V. Dimarogonas, “Multi-agent plan reconfiguration under local ltl specifications,” The International Journal of Robotics Research , vol. 34, no. 2, pp. 218–235, 2015
2015
Cited alongside, same era.
M. Rungger, A. Weber, and G. Reissig, “State space grids for low complexity abstractions,” IEEE Conference on Decision and Control (CDC) , pp. 6139–6146, 2015
2015
Cited alongside, same era.
D. Boskos and D. V. Dimarogonas, “Decentralized abstractions for feedback interconnected multi-agent systems,” IEEE Conference on Decision and Control (CDC) , pp. 282–287, 2015
2015
Cited alongside, same era.
A. Tsiamis, C. K. Verginis, C. P. Bechlioulis, and K. J. Kyriakopoulos, “Cooperative manipulation exploiting only implicit communication,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 864–869, 2015
2015
Cited alongside, same era.
2016
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A. Marino, “Distributed adaptive control of networked cooperative mobile manipulators,” IEEE Transactions on Control Systems Technology , 2017
2017
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A. Nikou, C. Verginis, S. Heshmati-Alamdari, and D. V. Dimarogonas, “A nonlinear model predictive control scheme for cooperative manipulation with singularity and collision avoidance,” Mediterranean Conference on Control and Automation (MED) , pp. 707–712, 2017
2017
Later among the works it cites.
C. K. Verginis and D. V. Dimarogonas, “Timed abstractions for distributed cooperative manipulation,” Autonomous Robots , pp. 1–19, 2017
2017
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——, “Multi-agent motion planning and object transportation under high level goals,” IFAC World Congress , 2017
2017
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C. K. Verginis, A. Nikou, and D. V. Dimarogonas, “Communication-based decentralized cooperative object transportation using nonlinear model predictive control,” European control conference (ECC) , pp. 733–738, 2018
2018
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P. Vlantis, C. Vrohidis, C. P. Bechlioulis, and K. J. Kyriakopoulos, “Robot navigation in complex workspaces using harmonic maps,” IEEE International Conference on Robotics and Automation (ICRA) , pp. 1726–1731, 2018
2018
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C. K. Verginis, M. Mastellaro, and D. V. Dimarogonas, “Robust cooperative manipulation without force/torque measurements: Control design and experiments,” IEEE Transactions on Control Systems Technology , vol. 28, no. 3, pp. 713–729, 2019
2019
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Y. Kantaros and M. M. Zavlanos, “Stylus*: A temporal logic optimal control synthesis algorithm for large-scale multi-robot systems,” The International Journal of Robotics Research , vol. 39, no. 7, pp. 812–836, 2020
2020
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C. K. Verginis and D. V. Dimarogonas, “Adaptive robot navigation with collision avoidance subject to 2nd-order uncertain dynamics,” Automatica , vol. 123, p. 109303, 2021
2021
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