A Graphical User Interface for the Hybrid Control of Multi-Robot Systems under Linear Temporal Logic
Lukas Schönbächler · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2018
In recent years the model checking theory was applied successfullyfor robot motion and task planning by specifying the workspace asa weighted finite transition system and tasks as linear temporal logicformulas. The tasks contain hard and soft-specifications which are assignedto an agent in a multi-robot system. The tasks are assigned aslocal tasks to an agent and are independent from each other.In this work a Graphical User Interface is presented to define a finitetransition system and specify tasks for each agent as linear temporallogic formulas. Furthermore, the presented GUI allows the user tosynthesize the robot motion and task plan. While an agent executesits motion plan, changes in the weighted finite transition system canbe applied and the agent performs a replanning. A new frameworkfor online task adaption is provided, which allows the user to sendtemporary tasks to an agent while executing its motion plan. In theend of the thesis some case studies are shown to demonstrate the newapproaches in simulation and also the functionality of the GUI in anexperiment. In the experiment the agents are able to avoid other agentsand even avoid moving human beings in the workspace.