Academic Journal
MAPS 2 : Multi-robot autonomous motion planning under signal temporal logic specifications.
| Τίτλος: | MAPS 2 : Multi-robot autonomous motion planning under signal temporal logic specifications. |
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| Συγγραφείς: | Sewlia, Mayank1 sewlia@kth.se, Verginis, Christos K.2, Dimarogonas, Dimos V.1 |
| Πηγή: | International Journal of Robotics Research. Aug2026, Vol. 45 Issue 9, p1348-1366. 19p. |
| Θεματικοί όροι: | *Simulation methods & models, *Industrial robots, Distributed algorithms, Robotic path planning, Graph connectivity |
| Περίληψη: | This article presents MAPS2: a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either adopt a limited fragment of the STL formula or require approximations of min/max operators. Meanwhile, works maximising robustness through optimisation-based methods often suffer from local minima, thus relaxing any completeness arguments due to the NP-hard nature of the problem. Endowed with probabilistic guarantees, MAPS2 provides an autonomous algorithm that iteratively improves the robots' trajectories. The algorithm selectively imposes spatial constraints by taking advantage of the temporal properties of the STL. The algorithm is distributed in the sense that each robot calculates its trajectory by communicating only with its immediate neighbours as defined via a communication graph. We illustrate the efficiency of MAPS2 by conducting extensive simulation and experimental studies, verifying the generation of STL satisfying trajectories. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
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| Items | – Name: Title Label: Title Group: Ti Data: MAPS 2 : Multi-robot autonomous motion planning under signal temporal logic specifications. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Sewlia%2C+Mayank%22">Sewlia, Mayank</searchLink><relatesTo>1</relatesTo><i> sewlia@kth.se</i><br /><searchLink fieldCode="AR" term="%22Verginis%2C+Christos+K%2E%22">Verginis, Christos K.</searchLink><relatesTo>2</relatesTo><br /><searchLink fieldCode="AR" term="%22Dimarogonas%2C+Dimos+V%2E%22">Dimarogonas, Dimos V.</searchLink><relatesTo>1</relatesTo> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Robotics+Research%22">International Journal of Robotics Research</searchLink>. Aug2026, Vol. 45 Issue 9, p1348-1366. 19p. – Name: Subject Label: Subject Terms Group: Su Data: *<searchLink fieldCode="DE" term="%22Simulation+methods+%26+models%22">Simulation methods & models</searchLink><br />*<searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink><br /><searchLink fieldCode="DE" term="%22Distributed+algorithms%22">Distributed algorithms</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+path+planning%22">Robotic path planning</searchLink><br /><searchLink fieldCode="DE" term="%22Graph+connectivity%22">Graph connectivity</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: This article presents MAPS2: a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either adopt a limited fragment of the STL formula or require approximations of min/max operators. Meanwhile, works maximising robustness through optimisation-based methods often suffer from local minima, thus relaxing any completeness arguments due to the NP-hard nature of the problem. Endowed with probabilistic guarantees, MAPS2 provides an autonomous algorithm that iteratively improves the robots' trajectories. The algorithm selectively imposes spatial constraints by taking advantage of the temporal properties of the STL. The algorithm is distributed in the sense that each robot calculates its trajectory by communicating only with its immediate neighbours as defined via a communication graph. We illustrate the efficiency of MAPS2 by conducting extensive simulation and experimental studies, verifying the generation of STL satisfying trajectories. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1177/02783649251393343 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 19 StartPage: 1348 Subjects: – SubjectFull: Simulation methods & models Type: general – SubjectFull: Industrial robots Type: general – SubjectFull: Distributed algorithms Type: general – SubjectFull: Robotic path planning Type: general – SubjectFull: Graph connectivity Type: general Titles: – TitleFull: MAPS 2 : Multi-robot autonomous motion planning under signal temporal logic specifications. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Sewlia, Mayank – PersonEntity: Name: NameFull: Verginis, Christos K. – PersonEntity: Name: NameFull: Dimarogonas, Dimos V. IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 08 Text: Aug2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 02783649 Numbering: – Type: volume Value: 45 – Type: issue Value: 9 Titles: – TitleFull: International Journal of Robotics Research Type: main |
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