Dynamic optimal control of multiple depot vehicle routing problem with metric temporal logic

Authors:
Mariam Faied;Ahmed Mostafa;Anouck Girard
Affiliations:
; ;
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 6
Cited 0

A really temporal logic

Journal of the ACM (JACM)
Temporal logic (vol. 1): mathematical foundations and computational aspects

Temporal logic (vol. 1): mathematical foundations and computational aspects
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Model checking
Multiagent Mission Specification and Execution

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Adaptive teams of autonomous aerial and ground robots for situational awareness: Field Reports

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A description and reasoning of plant controllers in temporal logic

IJCAI'83 Proceedings of the Eighth international joint conference on Artificial intelligence - Volume 1

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Abstract

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 use tree search algorithm to seek the optimal flyable trajectories for teams of UAVs starting from different depots to complete missions with complicated time and technical requirements. Then a Stochastic Dynamic Programming (SDP) based algorithm is proposed to dynamically tune the UAV teams in order to secure them against adversarial actions. Examples for practical mission planning problems, in which MTL is used as a high level language to specify complex mission tasks, are presented and discussed in the paper.