Automatic Control Synthesis for Swarm Robots from Formation and Location-based High-level Specifications
Ji Chen,Hanlin Wang,Michael Rubenstein,Hadas Kress-Gazit,Ji Chen,Hanlin Wang,Michael Rubenstein,Hadas Kress-Gazit
In this paper, we propose an abstraction that captures high-level formation and location-based swarm behaviors, and an automated control synthesis framework to generate correct-by-construction behaviors. Our abstraction includes symbols representing both possible formations and physical locations in the workspace. We allow users to write linear temporal logic (LTL) specifications over the symbols ...
