论文标题
多机器人边界守望先锋基于信任的符号运动计划
Trust-based Symbolic Motion Planning for Multi-robot Bounding Overwatch
论文作者
论文摘要
多机器人边界守望先锋需要及时协调机器人团队成员。符号运动计划（SMP）可以为具有高级时间逻辑任务要求提供的机器人运动计划提供正确的解决方案。本文旨在为多机器人系统（MRS）的安全可靠SMP开发一个框架，以满足受时间逻辑约束的复杂边界守望先锋任务。首先提出了分散的SMP框架，该框架保证了MRS对复杂边界守望先锋任务的正确性和并行执行。然后，通过指代机器人在地形中的遍历性和视线来构建计算信任模型。信任模型预测了每个机器人团队在执行任务计划中的潜在行为的可信度。通过Dijkstra搜索策略探索了最值得信赖的任务和运动计划，以确保MRS Bourding Overwatch的可靠性。在ROS凉亭实施了机器人模拟，以证明提出的框架的有效性。
Multi-robot bounding overwatch requires timely coordination of robot team members. Symbolic motion planning (SMP) can provide provably correct solutions for robot motion planning with high-level temporal logic task requirements. This paper aims to develop a framework for safe and reliable SMP of multi-robot systems (MRS) to satisfy complex bounding overwatch tasks constrained by temporal logics. A decentralized SMP framework is first presented, which guarantees both correctness and parallel execution of the complex bounding overwatch tasks by the MRS. A computational trust model is then constructed by referring to the traversability and line of sight of robots in the terrain. The trust model predicts the trustworthiness of each robot team's potential behavior in executing a task plan. The most trustworthy task and motion plan is explored with a Dijkstra searching strategy to guarantee the reliability of MRS bounding overwatch. A robot simulation is implemented in ROS Gazebo to demonstrate the effectiveness of the proposed framework.
