A Formal Modular Synthesis Approach for the Coordination of 3-D Robotic Construction with Multi-robots

TL;DR

This paper presents a formal, modular control synthesis method based on Supervisory Control Theory to coordinate multiple robots in building 3-D structures autonomously, ensuring correct construction through reactive controllers.

Contribution

It introduces a novel formal approach for synthesizing reactive controllers for multi-robot 3-D construction using modular supervisory control theory.

Findings

Successfully synthesizes correct-by-construction supervisors

Enables autonomous multi-robot coordination for 3-D building tasks

Ensures reliable and correct structure assembly

Abstract

In this paper, we deal with the problem of coordinating multiple robots to build 3-D structures. This problem consists of a set of mobile robots that interact with each other in order to autonomously build a predefined 3-D structure. Our approach is based on Supervisory Control Theory, and it allows us to synthesize from models that represent a single robot and the target structure a correct-by-construction reactive controller, called supervisor. When this supervisor is replicated for the other robots, then the target structure can be completed by all robots