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- W3193722158 abstract "Efficiently coordinating different types of robots is an important enabler for many commercial and industrial automation tasks. Here, we present a distributed framework that enables a team of heterogeneous robots to dynamically generate actions from a common, user-defined goal specification. In particular, we discuss the integration of various robotic capabilities into a common task allocation and planning formalism, as well as the specification of expressive, temporally-extended goals by non-expert users. Models for task allocation and execution both consider non-deterministic outcomes of actions and thus, are suitable for a wide range of real-world tasks including formally specified reactions to online observations. One main focus of our paper is to evaluate the framework and its integration of software modules through a number of experiments. These experiments comprise industry-inspired scenarios as motivated by future real-world applications. Finally, we discuss the results and learnings for motivating practically relevant, future research questions." @default.
- W3193722158 created "2021-08-30" @default.
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- W3193722158 date "2021-11-01" @default.
- W3193722158 modified "2023-10-16" @default.
- W3193722158 title "Adaptive heterogeneous multi-robot collaboration from formal task specifications" @default.
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- W3193722158 doi "https://doi.org/10.1016/j.robot.2021.103866" @default.
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