Multi-Agent Motion Planning and Object Transportation under High Level Goals

TL;DR

This paper introduces a hybrid control framework enabling multi-agent systems to plan and execute object transportation tasks under high-level goals, using temporal logic for specification satisfaction.

Contribution

It proposes a novel control protocol that abstracts agent-object interactions as a finite transition system for high-level planning.

Findings

Framework successfully plans multi-agent object transportation tasks

Simulation results confirm the effectiveness of the control protocols

High-level specifications are satisfied in simulated scenarios

Abstract

This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the agents as well as the transportation of the objects by the agents, among predefined regions of interest in the workspace. This allows us to abstract the coupled behavior of the agents and the objects as a finite transition system and to design a high-level multi-agent plan that satisfies the agents' and the objects' specifications, given as temporal logic formulas. Simulation results verify the proposed framework.