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The Center for Control, Dynamical Systems, and Computation University of California at Santa Barbara
 

Summary: The Center for Control, Dynamical Systems, and Computation
University of California at Santa Barbara
Winter 2008 Seminar Series
Presents
Distributed Implementations of Global Temporal Logic
Motion Specifications
Calin Belta
Boston University
Friday, February 22, 2008 3:00-4:00pm Harold Frank Hall 1104
Abstract:
The existing approaches to motion planning and control of multi-agent mobile systems
have too main limitations. First, task specifications are only given as "Go from R1 to
R2 and avoid obstacles." This is not rich enough for a large class of robotic applica-
tions, where temporal and logic statements about the reachability of regions of inter-
est are necessary, e.g., "Always avoid R4. Visit R1 or R2 and then go to R3 and stay
there for all future times. After R3 is occupied, within 10 min, start visiting R2 and R5,
in this order infinitely often." Second, most of the existing approaches (including con-
sensus algorithms) are bottom-up, in the sense that they show that local interaction
rules, inspired from natural systems or derived from first principles, induce interesting
global behavior. However, the inverse problem seems more relevant to robotics: Can

  

Source: Akhmedov, Azer - Department of Mathematics, University of California at Santa Barbara

 

Collections: Mathematics