TY - JOUR
T1 - Adaptive heterogeneous multi-robot collaboration from formal task specifications
AU - Schillinger, Philipp
AU - García, Sergio
AU - Makris, Alexandros
AU - Roditakis, Konstantinos
AU - Logothetis, Michalis
AU - Alevizos, Konstantinos
AU - Ren, Wei
AU - Tajvar, Pouria
AU - Pelliccione, Patrizio
AU - Argyros, Antonis
AU - Kyriakopoulos, Kostas J.
AU - Dimarogonas, Dimos V.
N1 - Funding Information:
Dimos V. Dimarogonas was born in Athens, Greece, in 1978. He received the Diploma in Electrical and Computer Engineering in 2001 and the Ph.D. in Mechanical Engineering in 2007, both from the National Technical University of Athens (NTUA), Greece. Between May 2007 and March 2010, he held postdoctoral positions at KTH Royal Institute of Technology, Stockholm, Sweden and at LIDS, MIT, Boston, USA. He is currently a Professor at the Division of Decision and Control Systems, School of EECS, at the KTH Royal Institute of Technology. His current research interests include Multi-Agent Systems, Hybrid Systems and Control, Robot Navigation and Networked Control. He serves in the Editorial Board of Automatica and the IEEE Transactions on Control of Network Systems and is a Senior Member of the IEEE. He received an ERC Starting Grant from the European Commission for the proposal BUCOPHSYS in 2014 and was awarded a Wallenberg Academy Fellow grant in 2015.
Funding Information:
This work was supported by the EU H2020 Research and Innovation Programme under GA No. 731869 (Co4Robots). The authors would like to thank all members of the project consortium for their support in realizing the presented demonstrations. In particular, thanks goes to PAL Robotics for providing the two TIAGo Bases as well as to Bosch Corporate Research and PAL Robotics for providing the infrastructure for preparation and execution of the experiments.
Publisher Copyright:
© 2021 Elsevier B.V.
PY - 2021/11
Y1 - 2021/11
N2 - Efficiently coordinating different types of robots is an important enabler for many commercial and industrial automation tasks. Here, we present a distributed framework that enables a team of heterogeneous robots to dynamically generate actions from a common, user-defined goal specification. In particular, we discuss the integration of various robotic capabilities into a common task allocation and planning formalism, as well as the specification of expressive, temporally-extended goals by non-expert users. Models for task allocation and execution both consider non-deterministic outcomes of actions and thus, are suitable for a wide range of real-world tasks including formally specified reactions to online observations. One main focus of our paper is to evaluate the framework and its integration of software modules through a number of experiments. These experiments comprise industry-inspired scenarios as motivated by future real-world applications. Finally, we discuss the results and learnings for motivating practically relevant, future research questions.
AB - Efficiently coordinating different types of robots is an important enabler for many commercial and industrial automation tasks. Here, we present a distributed framework that enables a team of heterogeneous robots to dynamically generate actions from a common, user-defined goal specification. In particular, we discuss the integration of various robotic capabilities into a common task allocation and planning formalism, as well as the specification of expressive, temporally-extended goals by non-expert users. Models for task allocation and execution both consider non-deterministic outcomes of actions and thus, are suitable for a wide range of real-world tasks including formally specified reactions to online observations. One main focus of our paper is to evaluate the framework and its integration of software modules through a number of experiments. These experiments comprise industry-inspired scenarios as motivated by future real-world applications. Finally, we discuss the results and learnings for motivating practically relevant, future research questions.
KW - Abstraction
KW - HRI
KW - Heterogeneous robots
KW - Multi-robot
KW - Robotics
KW - Task allocation
KW - Task decomposition
KW - Temporal logic
UR - http://www.scopus.com/inward/record.url?scp=85113387921&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85113387921&partnerID=8YFLogxK
U2 - 10.1016/j.robot.2021.103866
DO - 10.1016/j.robot.2021.103866
M3 - Article
AN - SCOPUS:85113387921
SN - 0921-8890
VL - 145
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
M1 - 103866
ER -