Multi-Agent Motion Planning and Object Transportation under High Level Goals
For researchers in multi-agent systems and robotics, this work provides a method to integrate low-level control with high-level temporal logic planning for coupled agent-object systems.
This paper presents a hybrid control framework for multi-agent motion planning and object transportation under high-level temporal logic specifications, enabling agents to transition and transport objects among predefined regions. Simulation results verify the proposed approach.
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the agents as well as the transportation of the objects by the agents, among predefined regions of interest in the workspace. This allows us to abstract the coupled behavior of the agents and the objects as a finite transition system and to design a high-level multi-agent plan that satisfies the agents' and the objects' specifications, given as temporal logic formulas. Simulation results verify the proposed framework.