Robust Decentralized Abstractions for Multiple Mobile Manipulators
For multi-robot systems, this work provides a decentralized method for abstraction and control, but it is incremental as it extends existing ideas to mobile manipulators with 2nd order dynamics.
This paper proposes decentralized controllers for multiple mobile manipulators to navigate among regions of interest while ensuring collision avoidance and connectivity maintenance, abstracting the motion into finite transition systems for temporal logic planning. Simulations validate the approach.
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of interest in the workspace, while guaranteeing at the same time inter-agent collision avoidance and connectivity maintenance for a subset of initially connected agents. In that way, the motion of the coupled multi-agent system is abstracted into multiple finite transition systems for each agent, which are then suitable for the application of temporal logic-based high level plans. The proposed methodology is decentralized, since each agent uses local information based on limited sensing capabilities. Finally, simulation studies verify the validity of the approach.