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Mission and Motion Planning for Multi-robot Systems in Constrained Environments


Abstract As robots become mechanically more capable, they are going to be more and more integrated into our daily lives. Over time, human’s expectation of what the robot capabilities are is getting higher. Therefore, it can be conjectured that often robots will not act as human commanders intended them to do. That is, the users of the robots may have a different point of view from the one the robots do.

The first part of this dissertation covers methods that resolve some instances of this mismatch when the mission requirements are expressed in Linear Temporal Logic (LTL) for handling coverage, sequencing, conditions and avoidance. That is, the following general questions are addressed:

* What cause of the given mission is unrealizable?

* Is there... (more)
Created Date 2019
Contributor Kim, Kangjin (Author) / Fainekos, Georgios (Advisor) / Baral, Chitta (Committee member) / Lee, Joohyung (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Subject Computer science / Robotics / Autonomous Vehicle / Linear Temporal Logic / Mission Planning / Motion Planning / Multi-agent / Specification Revision
Type Doctoral Dissertation
Extent 171 pages
Language English
Copyright
Note Doctoral Dissertation Computer Science 2019
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis