Adaptive heterogeneous multi-robot collaboration from formal task specifications
Journal article, 2021
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. (C) 2021 Elsevier B.V. All rights reserved.
Author
Philipp Schillinger
Bosch
Sergio Garcia
University of Gothenburg
Alexandros Makris
Foundation for Research and Technology Hellas (FORTH)
Konstantinos Roditakis
Foundation for Research and Technology Hellas (FORTH)
Michalis Logothetis
National Technical University of Athens (NTUA)
Konstantinos Alevizos
National Technical University of Athens (NTUA)
Wei Ren
Royal Institute of Technology (KTH)
Pouria Tajvar
Royal Institute of Technology (KTH)
Patrizio Pelliccione
University of Gothenburg
Gran Sasso Science Institute (GSSI)
Software Engineering 1
Antonis Argyros
Foundation for Research and Technology Hellas (FORTH)
Kostas Kyriakopoulos
National Technical University of Athens (NTUA)
Dimos V. Dimarogonas
Royal Institute of Technology (KTH)
Robotics and Autonomous Systems
0921-8890 (ISSN)
Vol. 145 103866Subject Categories (SSIF 2025)
Robotics and automation
Computer Sciences
DOI
10.1016/j.robot.2021.103866