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@COMMENT This file came from Sanjit Seshia's publication pages at http://www.eecs.berkeley.edu/~sseshia
@InProceedings{saha-iros14,
author = {Indranil Saha and Rattanachai Ramaithitima and Vijay Kumar and George J. Pappas and Sanjit A. Seshia},
title = {Automated Composition of Motion Primitives for Multi-Robot Systems from Safe LTL Specifications},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
OPTcrossref = {},
OPTkey = {},
pages = {1525--1532},
year = {2014},
OPTeditor = {},
OPTvolume = {},
OPTnumber = {},
OPTseries = {},
OPTaddress = {},
month = {September},
OPTorganization = {},
OPTpublisher = {},
OPTannote = {},
abstract={We present a compositional motion planning
framework for multi-robot systems based on an encoding to
satisfiability modulo theories (SMT). In our framework, the
desired behavior of a group of robots is specified using a set of
safe linear temporal logic (LTL) properties. Our method relies
on a library of motion primitives, each of which corresponds
to a controller that ensures a particular trajectory in a given
configuration. Using the closed-loop behavior of the robots
under the action of different controllers, we formulate the
motion planning problem as an SMT solving problem and
use an off-the-shelf SMT solver to generate trajectories for the
robots. Our approach can also be extended to synthesize optimal
cost trajectories where optimality is defined with respect to
the available motion primitives. Experimental results show that
our framework can efficiently solve complex motion planning
problems in the context of multi-robot systems.},
}