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We present an efficient approach to plan action sequences for a team of robots from a single finite LTL mission specification. The resulting execution strategy is proven to solve the given mission with minimal team costs, e.g., with shortest execution time. For planning, an established graph-based search method based on the multi-objective shortest path problem is adapted to multi-robot planning and...
Team ViGIR and Team Hector participated in the DARPA Robotics Challenge (DRC) Finals, held June 2015 in Pomona, California, along with 21 other teams from around the world. Both teams competed using the same high‐level software, in conjunction with independently developed low‐level software specific to their humanoid robots. On the basis of previous work on operator‐centric manipulation control at...
Motivated by the DARPA Robotics Challenge (DRC), the application of operator assisted (semi-)autonomous robots with highly complex locomotion and manipulation abilities is considered for solving complex tasks in potentially unknown and unstructured environments. Because of the limited a priori knowledge about the state of the environment and tasks needed to achieve a complex mission, a sufficiently...
In this work, we take a step towards bridging the gap between the theory of formal synthesis and its application to real-world, complex, robotic systems. In particular, we present an end-to-end approach for the automatic generation of code that implements high-level robot behaviors in a verifiably correct manner, including reaction to the possible failures of low-level actions. We start with a description...
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