Distributed information gathering policies under temporal logic constraints

  address = {Osaka},
  title = {Distributed information gathering policies under temporal logic constraints},
  isbn = {978-1-4799-7886-1},
  url = {http://ieeexplore.ieee.org/document/7403291/},
  abstract = {In this work, we present an algorithm for synthesizing distributed control policies for networks of mobile robots such that they gather the maximum amount of information about some a priori unknown feature of the environment, e.g. hydration levels of crops or a lost person adrift at sea. Natural motion and communication constraints such as “Avoid obstacles and periodically communicate with all other agents”, are formulated as temporal logic formulae, a richer set of constraints than has been previously considered for this application. The mission constraints are distributed automatically among sub-groups of the agents. Each sub-group independently executes a receding horizon planner that locally optimizes information-gathering and is guaranteed to satisfy the assigned mission specification. This approach allows the agents to disperse beyond inter-agent communication ranges while ensuring global team constraints are met. We evaluate our novel paradigm via simulation.},
  language = {en},
  urldate = {2020-09-15},
  booktitle = {2015 54th {IEEE} {Conference} on {Decision} and {Control} ({CDC})},
  publisher = {IEEE},
  author = {Leahy, Kevin and Jones, Austin and Schwager, Mac and Belta, Calin},
  month = dec,
  year = {2015},
  keywords = {cooperative\_planning},
  pages = {6803--6808},
  month_numeric = {12}