论文标题
异质机器人时间逻辑规格的自动任务更新
Automated Task Updates of Temporal Logic Specifications for Heterogeneous Robots
论文作者
论文摘要
给定一个异质的机器人组，执行了以线性时间逻辑为代表的复杂任务，以及该组的新任务集，我们定义了任务更新问题，并提出了一个框架，以自动更新单个机器人任务，鉴于其各自现有的任务和功能。我们的启发式，基于令牌的冲突解决任务分配算法为新任务生成了近乎最佳的分配。我们通过模拟多机器人任务来证明我们的方法的可扩展性。
Given a heterogeneous group of robots executing a complex task represented in Linear Temporal Logic, and a new set of tasks for the group, we define the task update problem and propose a framework for automatically updating individual robot tasks given their respective existing tasks and capabilities. Our heuristic, token-based, conflict resolution task allocation algorithm generates a near-optimal assignment for the new task. We demonstrate the scalability of our approach through simulations of multi-robot tasks.
