publication . Research . Conference object . 2004

Multi-Robot Motion Planning: A Timed Automata Approach

Michael Melholt Quottrup; Thomas Bak; Roozbeh Izadi-Zamanabadi;
Open Access English
  • Published: 01 Jan 2004
  • Publisher: <Forlag uden navn>
  • Country: Denmark
This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar grid. The automata formalism merely presents a high-level model of environment, robots and control, but allows composition and formal symbolic reasoning about coordinated solutions. Composition is achieved through synchronization, and the verification software UPPAAL is used for a symbolic verification against specification requirements formulated in computational tree lo...
arXiv: Computer Science::Robotics
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Research . 2004
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