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Multi-Agent Motion Planning and Object Transportation under High Level Goals
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0002-4289-2866
KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)Conference paper, Published paper (Refereed)
Abstract [en]

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 ofthe objects by the agents, among predefined regions of interest in the workspace. This allows usto 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.

Place, publisher, year, edition, pages
2017.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-211174OAI: oai:DiVA.org:kth-211174DiVA: diva2:1127981
Conference
IFAC 2017 World Congress, Toulouse, France The 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017
Funder
Swedish Research CouncilKnut and Alice Wallenberg FoundationEU, Horizon 2020, 644128
Note

QC 20170811

Available from: 2017-07-20 Created: 2017-07-20 Last updated: 2017-08-11Bibliographically approved

Open Access in DiVA

fulltext(655 kB)4 downloads
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Type fulltextMimetype application/pdf

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf