Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks

Education is facing challenges to keep pace with the widespread introduction of robots and digital technologies in industry and everyday life. These challenges necessitate new approaches to impart students at all levels of education with the knowledge of smart connected robot systems. This paper presents the high-school enrichment program Intelligent Robotics and Smart Transportation, which implements an approach to teaching the concepts and skills of robot connectivity, collaborative sensing, and artificial intelligence, through practice with multi-robot systems. The students used a simple control language to program Bioloid wheeled robots and utilized Phyton and Robot Operating System (ROS) to program Tello drones and TurtleBots in a Linux environment. In their projects, the students implemented multi-robot tasks in which the robots exchanged sensory data via the internet. Our educational study evaluated the contribution of the program to students’ learning of connectivity and collaborative sensing of robot systems and their interest in modern robotics. The students’ responses indicated that the program had a high positive contribution to their knowledge and skills and fostered their interest in the learned subjects. The study revealed the value of learning of internet of things and collaborative sensing for enhancing this contribution.

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Parallel decomposition and concurrent satisfaction for heterogeneous multi-robot task and motion planning under temporal logic specifications

Discrete Event Dynamic Systems ◽

10.1007/s10626-021-00355-z ◽

2021 ◽

Author(s):

Huanfei Zheng ◽

Yue Wang

Keyword(s):

Motion Planning ◽

Temporal Logic ◽

Parallel Decomposition ◽

Robot Task ◽

Multi Robot

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A Distributed Framework for Multi-Robot Task Planning with Temporal Logic Specifications

2020 IEEE 16th International Conference on Control & Automation (ICCA) ◽

10.1109/icca51439.2020.9264491 ◽

2020 ◽

Author(s):

Yuanjiang Yang ◽

Xiang Yin ◽

Shaoyuan Li

Keyword(s):

Temporal Logic ◽

Task Planning ◽

Distributed Framework ◽

Robot Task ◽

Multi Robot

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Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic

International Journal of Advanced Robotic Systems ◽

10.1177/1729881419885697 ◽

2019 ◽

Vol 16 (6) ◽

pp. 172988141988569

Author(s):

Shaurya Shriyam ◽

Satyandra K Gupta

Keyword(s):

Adverse Effects ◽

Case Studies ◽

Temporal Logic ◽

Human Intervention ◽

Assembly Process ◽

Assembly Operations ◽

Multiple Assembly ◽

Multi Robot ◽

Resolution Strategies

This article presents an approach for assessing contingency resolution strategies using temporal logic. We present a framework for nominal mission modeling, then specifying contingency resolution strategies and evaluating their effectiveness for the mission. Our approach focuses on leveraging the use of model checkers to the domain of multi-robot missions to assess the adequacy of contingency resolution strategies that minimize the adverse effects of contingencies on the mission execution. We consider missions with deterministic as well as probabilistic transitions. We demonstrate our approach using two case studies. We consider the escorting of a ship in a port where multiple contingencies may occur concurrently and assess the adequacy of the proposed contingency resolution strategies. We also consider a manufacturing scenario where multiple assembly stations collaborate to create a product. In this case, assembly operations may fail, and human intervention is needed to complete the assembly process. We investigate several different strategies and assess their effectiveness based on mission characteristics.

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A Study on a Foraging Behavior of Interacting Simple Robots

Journal of Advanced Computational Intelligence and Intelligent Informatics ◽

10.20965/jaciii.2003.p0108 ◽

2003 ◽

Vol 7 (2) ◽

pp. 108-114 ◽

Cited By ~ 3

Author(s):

Ken Sugawara ◽

◽

Masaki Sano ◽

Toshinori Watanabe ◽

◽

...

Keyword(s):

Light Signal ◽

Home Location ◽

Considerable Research ◽

Robot Systems ◽

Point Field ◽

Robot Tasks ◽

Foraging Task ◽

Robot Group ◽

Simple Interaction ◽

Multi Robot

Considerable research is currently being conducted in the area of multi-robot systems. The most remarkable characteristic of these types of systems is that the robots are able to work cooperatively to complete a task that a single robot cannot accomplish by itself. This characteristic is essential in the investigation of the effect of the number of robots in a given system. Out of the various possible multi-robot tasks, a foraging task was chosen for these experiments. The robots used in the experiments referenced by this paper had a simple interaction method with a light signal. The robots’ behavior in a one feeding point field was first discussed. This behavior was analyzed by both a robot simulation and a mathematical model. In the next experiment, numerous feeding points, equidistant from the home location, were arranged in the foraging field. The performance of the robots in this arrangement was then discussed. This report highlights the ordered behavior of the robot group, which greatly depends upon the number of robots and the strength of their interaction.

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