The project proposes the development of specification classes and planning methods for mobile robots, with the purpose of accomplishing complex tasks. We consider a team of mobile robots that should accomplish missions including motion specifications and requirements for performing actions in specific regions.
Based on formal languages, we aim to establish subsets of specification classes that are expressive enough for integrating actions and motion tasks for usual requirements of a robotic team. The mission expresses a global task for the whole team, and we intend to develop and implement algorithms that yield motion and action sequences for each robot.The automatic strategies will employ optimization techniques and finite-state models for team evolution and for actions to be performed.
An important project goal consists in validating the motion algorithms through real-time experiments. We intend to conduct experiments in both 2D and 3D environments, by using an available laboratory setup with wheeled mobile robots, and by setting up a framework for quadcopter robots. The research implementation considers a team with five postdoctoral researchers (including the project leader).