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.
翻译:多机器人捆绑监督任务要求机器人团队成员的及时协调。 符号动作规划( SMP)可以为机器人动作规划提供可行的正确解决方案, 并提供高层次的时间逻辑任务要求。 本文旨在开发一个多机器人系统安全可靠的 SMP 安全可靠的 SMP 框架, 以满足受时间逻辑制约的复杂捆绑监督任务。 首先提出分散式的 SMP 框架, 保证MRS 的复杂绑绑绑任务得到正确性和平行执行。 然后, 建立计算信任模型, 参照在地形上的机器人的可移动性和视线。 信任模型预测每个机器人小组执行任务计划的潜在行为是否可信。 最值得信赖的任务和运动计划通过Dijkstra搜索战略加以探索, 以保证MRS捆绑监督的可靠性。 在 ROS Gazebo 实施机器人模拟, 以证明拟议框架的有效性 。