Decomposition-based Hierarchical Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications
CoRR(2023)
摘要
Past research into robotic planning with temporal logic specifications,
notably Linear Temporal Logic (LTL), was largely based on singular formulas for
individual or groups of robots. But with increasing task complexity, LTL
formulas unavoidably grow lengthy, complicating interpretation and
specification generation, and straining the computational capacities of the
planners. A recent development has been the hierarchical representation of LTL
[1] that contains multiple temporal logic specifications, providing a more
interpretable framework. However, the proposed planning algorithm assumes the
independence of robots within each specification, limiting their application to
multi-robot coordination with complex temporal constraints. In this work, we
formulated a decomposition-based hierarchical framework. At the high level,
each specification is first decomposed into a set of atomic sub-tasks. We
further infer the temporal relations among the sub-tasks of different
specifications to construct a task network. Subsequently, a Mixed Integer
Linear Program is utilized to assign sub-tasks to various robots. At the lower
level, domain-specific controllers are employed to execute sub-tasks. Our
approach was experimentally applied to domains of robotic navigation and
manipulation. The outcomes of thorough simulations, which included comparative
analyses, demonstrated the effectiveness of the proposed approach.
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关键词
planning,logic
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