Distributed Autonomous Robotic Systems pp 265-281 | Cite as
Multi-agent Coordination Subject to Counting Constraints: A Hierarchical Approach
Conference paper
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Abstract
This paper considers the problem of generating multi-agent trajectories to satisfy properties given in counting temporal logic. A hierarchical solution approach is proposed where a coarse plan that satisfies the logic constraints is computed first at the higher-level, followed by a lower-level task of solving a sequence of multi-agent reachability problems. Collision avoidance and potential asynchronous executions are also dealt with at the lower-level. When lower-level planning problems are found to be infeasible, these infeasibility certificates are incorporated into the higher-level problem to re-generate plans. The results are demonstrated with several examples that show how the proposed approach scales with respect to different parameters.
Keywords
Counting constraints Multi-agent path planning Formal methods Hierarchical planningNotes
Acknowledgements
This work is supported in part by NSF grants CNS-1446298 and ECCS-1553873, and DARPA grant N66001-14-1-4045.
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