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Paper Abstract and Keywords
Presentation 2022-06-16 10:00
Path Planning of Heterogeneous Multi-robot Systems Satisfying a Counting Temporal Logics Constraint
Kotaro Nagae, Toshimitsu Ushio (Osaka Univ.) CAS2022-1 VLD2022-1 SIP2022-32 MSS2022-1
Abstract (in Japanese) (See Japanese page) 
(in English) We propose a path planning method for heterogeneous multi-robot systems using counting temporal logic. The cLTL+ has enough expressive power to describe constraints in the path planning problem, where several different sequence of workflows is performed by robots concurrently, but as the number of robots increase, computation time it takes to solve the problem by transformed it into a mixed integer programming linear problem increases exponentially. On the other hand, cLTL can reduce the computation time but its expressive power is not enough to describe the sequence of workflows. In this report, we propose a simple description of transportation tasks and extend temporal discounting propositions. Then, we describe specifications using the syntax of cLTL. By simulation, it is shown that, by using the proposed description, it takes less computation time with less memory space than cLTL+ specifications to obtain an optimal plan.
Keyword (in Japanese) (See Japanese page) 
(in English) Heterogeneous multi-robot systems / LTL / cLTL+ / cLTL / path planning / / /  
Reference Info. IEICE Tech. Rep., vol. 122, no. 78, MSS2022-1, pp. 1-6, June 2022.
Paper # MSS2022-1 
Date of Issue 2022-06-09 (CAS, VLD, SIP, MSS) 
ISSN Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CAS2022-1 VLD2022-1 SIP2022-32 MSS2022-1

Conference Information
Committee CAS SIP VLD MSS  
Conference Date 2022-06-16 - 2022-06-17 
Place (in Japanese) (See Japanese page) 
Place (in English) Hachinohe Institute of Technology 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MSS 
Conference Code 2022-06-CAS-SIP-VLD-MSS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Path Planning of Heterogeneous Multi-robot Systems Satisfying a Counting Temporal Logics Constraint 
Sub Title (in English)  
Keyword(1) Heterogeneous multi-robot systems  
Keyword(2) LTL  
Keyword(3) cLTL+  
Keyword(4) cLTL  
Keyword(5) path planning  
1st Author's Name Kotaro Nagae  
1st Author's Affiliation Osaka University (Osaka Univ.)
2nd Author's Name Toshimitsu Ushio  
2nd Author's Affiliation Osaka University (Osaka Univ.)
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Speaker Author-1 
Date Time 2022-06-16 10:00:00 
Presentation Time 25 minutes 
Registration for MSS 
Paper # CAS2022-1, VLD2022-1, SIP2022-32, MSS2022-1 
Volume (vol) vol.122 
Number (no) no.75(CAS), no.76(VLD), no.77(SIP), no.78(MSS) 
Page pp.1-6 
Date of Issue 2022-06-09 (CAS, VLD, SIP, MSS) 

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