Mission specification and decomposition for multi-robot systems

• DOI: 10.1016/j.robot.2023.104386
• Publication Date: 2023-02-28T02:03:26Z
• Authors: Eric Bernd Gil; Genaína Nunes Rod...; Patrizio Pelliccione; Radu Calinescu
• Keywords: Reusability

Service robots are increasingly being used to perform missions comprising dangerous or tedious tasks previously executed by humans. However, their users—who know the environment and requirements for these missions—have limited no robotics experience. As such, they often find process of allocating concrete each robot within a multi-robot system (MRS) very challenging. Our paper introduces framework Multi-Robot mission Specification decomposition (MutRoSe) that simplifies automates key activities this process. To end, MutRoSe allows an MRS designer define all relevant aspects its in high-level specification language accounts variability real-world scenarios, dependencies between task instances, reusability libraries. Additionally, defined into which can then be allocated specific execution—with appropriately taken account. We illustrate application show effectiveness four from recently published repository applications.