Services on Demand
Journal
Article
Indicators
- Cited by SciELO
- Access statistics
Related links
- Cited by Google
- Similars in SciELO
- Similars in Google
Share
Tecnura
Print version ISSN 0123-921X
Abstract
MARTINEZ-VALENCIA, Jorge Luis; HOLGUIN-LONDONO, Mauricio and RAMIREZ-VANEGAS, Carlos Alberto. Methodology for the Synthesis of Automata in the Planning of Movements for Autonomous Systems with Multiple Agents. Tecnura [online]. 2021, vol.25, n.70, pp.46-70. Epub Feb 09, 2022. ISSN 0123-921X. https://doi.org/10.14483/22487638.17131.
Objective:
To present a methodology for motion planning in autonomous systems with multiple agents.
Methodology:
The physical behavior of a team of autonomous navigation systems is parameterized and defined. Then, a control policies algorithm is described and implemented, which interprets these descriptions, which are converted into LTL formulas, and a model is generated which allows making automatic abstractions. From generic solution configurations, the case of multiple robots with a single task in an environment with fixed obstacles is derived. The methodology is validated in different scenarios, and the results are analyzed.
Results:
The proposed methodology for motion planning in autonomous systems with multiple agents combines two state-of-the-art techniques, thus allowing to mitigate the combinatorial explosion of states in traditional approaches.
Conclusions:
The proposed methodology solves the automaton synthesis problem for high-level control with task changes during the execution. Under certain criteria, the problem of combinatorial explosion of states associated with these systems is mitigated. The solution is optimal with regard to the number of transactions performed by the team members.
Funding:
Universidad Tecnológica de Pereira
Keywords : Büchi automata; formal languages; linear temporal logic (LTL); motion planning; Petri networks; cooperative systems with multiple agents.