Specification Languages and Distributed Control Schemes for Teams of Unmanned Vehicles
Calin A. Belta · 2012
Abstract : In this project, we developed high-level, human-like specification languages for robotic motion tasks and computational frameworks for automatic synthesis of robot control and communication strategies from such specifications. Central to our approach are finite abstractions, which allow for the use of (adapted) temporal logics as specification languages, tools from formal verification resembling model checking for analysis and control, and techniques inspired from synchronization in concurrency theory for synthesis of communication strategies. In short, the results of this project can be grouped into: (1) computational tools for abstraction and temporal logic analysis and control of one dynamical system and (2) computational frameworks for automatic synthesis of control and communication strategies for a robotic team from global specifications given as temporal logic statements over a set of environmental service requests.