The temporal logic of reactive and concurrent systems
The temporal logic of reactive and concurrent systems
Symbolic model checking: 1020 states and beyond
Information and Computation - Special issue: Selections from 1990 IEEE symposium on logic in computer science
IEEE Transactions on Software Engineering - Special issue on formal methods in software practice
Model checking
Robot Motion Planning
NuSMV 2: An OpenSource Tool for Symbolic Model Checking
CAV '02 Proceedings of the 14th International Conference on Computer Aided Verification
More efficient on-the-fly LTL verification with Tarjan's algorithm
Theoretical Computer Science - Tools and algorithms for the construction and analysis of systems (TACAS 2004)
Planning Algorithms
Spin model checker, the: primer and reference manual
Spin model checker, the: primer and reference manual
Synthesis of reactive(1) designs
VMCAI'06 Proceedings of the 7th international conference on Verification, Model Checking, and Abstract Interpretation
PRISM: a tool for automatic verification of probabilistic systems
TACAS'06 Proceedings of the 12th international conference on Tools and Algorithms for the Construction and Analysis of Systems
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
A control problem for affine dynamical systems on a full-dimensional polytope
Automatica (Journal of IFAC)
Guaranteed global performance through local coordinations
Automatica (Journal of IFAC)
Trajectory planning for a car-like robot by environment abstraction
Robotics and Autonomous Systems
Language-guided controller synthesis for discrete-time linear systems
Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control
Temporal logic for process specification and recognition
Intelligent Service Robotics
Temporal logic robot control based on automata learning of environmental dynamics
International Journal of Robotics Research
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We present a computational framework for automatic synthesis of decentralized communication and control strategies for a robotic team from global specifications, which are given as temporal and logic statements about visiting regions of interest in a partitioned environment. We consider a purely discrete scenario, where the robots move among the vertices of a graph. However, by employing recent results on invarianec and facet reachability for dynamical systems in environments with polyhedral partitions, the framework from this paper can be directly implemented for robots with continuous dyrtamics. While allowing tor a rich specification language and guaranteeing the correctness of the solution, our approach is conservative in the sense that we might not find a solution, even if one exists. The overall amount of required computation is large. However, most of it is performed offline before the deployment. Illustrative simulations and experimental results are included.