A Graphical User Interface for the Hybrid Control of Multi-Robot Systems under Linear Temporal Logic

Abstract: In recent years the model checking theory were applied successfully for robot motion and task planning by specifying the workspace as a weighted finite transition system and tasks as linear temporal logic formulas. The tasks contain hard and soft-specifications which are assigned to an agent in a multi-robot system. In addition, tasks are assigned as local tasks to an agent and are independent from each other. In this work a Graphical User Interface is presented to define a weighted finite transition system and specify tasks for each agent as linear temporal logic formulas. Furthermore, the presented Graphical User Interface allows the user to synthesize the robot motion and task plan and starts its execution. While an agent executes its motion plan, changes in the weighted finite transition system can be applied and the agents perform replanning. A new framework for online task adaption is provided, which allows the user to send temporary tasks to an agent while executing its motion plan. In the end of the thesis some case studies are provided to demonstrate the new approaches in simulation and also the functionality of the Graphical User Interface in an experiment. In the experiment the agents are able to perform collision avoidance to other agents and they are also able to avoid moving human beings in the workspace.

Examiner: Dimos Dimarogonas