2016/09/20 by Iman Haghighi, Haghighi, Iman, Sadra Sadraddini +3
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Modular Robots and Swarm Intelligence #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1609.06283
openalex publication_date 2016/09/20 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range of time varying and complex spatial configurations, and develop a method to encode such formal specifications as a set of mixed integer linear constraints, which are incorporated into a mixed integer linear programming problem. We plan trajectories for each individual robot such that the whole swarm satisfies the spatio-temporal requirements, while optimizing total robot movement and/or a metric that shows how strongly the swarm trajectory resembles given spatio-temporal behaviors. An illustrative case study is included.