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LDP (Locally Distributed Predicates) is a distributed, high-level language for programming modular reconfigurable robot systems (MRRs). In this paper we present the implementation of two motion-planning algorithms in LDP, and analyze both their performance and ease of implementation. We present multiple variations of one planner, including a novel resource allocation algorithm. We then draw conclusions...
This paper discusses a class of mission planning problems that generalizes the standard Multiple Depot Vehicle Routing Problem with Time Windows (MDVRPTW) to incorporate complicated technical constraints. These constraints are specified via Metric Temporal Logic (MTL). A tree search algorithm is provided to solve that novel MDVRPTW with MTL specifications (MDVRPMTL) to optimality. In this work, we...
This paper proposes a novel version of the vehicle routing problem (VRP). Instead of servicing all the customers, feasible solutions of the VRP instance are forced to satisfy a set of complex high-level tasks given as a metric temporal logic (MTL) specification, which allows complex quantitative timing constraints to be incorporated into the problem. For the resulting vehicle routing problem with...
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