Cooperative Task Planning of Multi-Agent Systems Under Timed Temporal Specifications

In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a method for automatic control synthesis in a two-stage systematic procedure. With this method we guarantee that all the agents satisfy their own individual task specifications as well as that the team satisfies a team global task specification.Comment: Submitted to American Control Conference 201

Timed Transition Automata as Numerical Planning Domain

A general technique for transforming a timed finite state automaton into an equivalent automated planning domain based on a numerical parameter model is introduced. Timed transition automata have many applications in control systems and agents models; they are used to describe sequential processes, where actions are labelling by automaton transitions subject to temporal constraints. The language of timed words accepted by a timed automaton, the possible sequences of system or agent behaviour, can be described in term of an appropriate planning domain encapsulating the timed actions patterns and constraints. The time words recognition problem is then posed as a planning problem where the goal is to reach a final state by a sequence of actions, which corresponds to the timed symbols labeling the automaton transitions. The transformation is proved to be correct and complete and it is space/time linear on the automaton size. Experimental results shows that the performance of the planning domain obtained by transformation is scalable for real world applications. A major advantage of the planning based approach, beside of the solving the parsing problem, is to represent in a single automated reasoning framework problems of plan recognitions, plan synthesis and plan optimisation

Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic

In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task specification and then we provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find a feasible motion (or path) sequence for the robot to complete the task.Comment: Full Version for ECC 201

AN INTRASEASONAL BIOECONOMIC MODEL OF PLRV NET NECROSIS

A bioeconomic model is developed as an IPM planning tool to combat PLRV net necrosis in the PNW potato industry. Environmental/biological and production processes are linked to marketing activities using discrete time control. We find that pesticides can be optimally timed to reduce applications and still protect against net necrosis.Crop Production/Industries, Environmental Economics and Policy,

Timed-Elastic Bands for Manipulation Motion Planning

© 2019 IEEE. Motion planning is one of the main problems studied in the field of robotics. However, it is still challenging for the state-of-the-art methods to handle multiple conditions that allow better paths to be found. For example, considering joint limits, path smoothness and a mixture of Cartesian and joint-space constraints at the same time pose a significant challenge for many of them. This letter proposes to use timed-elastic bands for representing the manipulation motion planning problem, allowing to apply continuously optimized constraints to the problem during the search for a solution. Due to the nature of our method, it is highly extensible with new constraints or optimization objectives. The proposed approach is compared against state-of-the-art methods in various manipulation scenarios. The results show that it is more consistent and less variant, while performing in a comparable manner to that of the state of the art. This behavior allows the proposed method to set a lower-bound performance guarantee for other methods to build upon

Timed Transfer System Planning, Design and Operation

This study analyzes various methods of providing transit services in low-density areas. These areas can be classified into two major categories. First, suburban areas of medium and large cities; and second, entire medium and small cities which have low population densities. One of these types of areas is found in most cities. The focus of this study is the type of transit network and operation in which special transit centers are organized at which vehicles from several different lines converge at the same time, enabling passengers to transfer between any two lines, and then depart in their respective directions. This type of service is called timed transfer system, or TTS. Thus instead of individual transit lines, usually with inconvenient transfers in low density areas, TTS represents a coordinated transit network which passengers can utilize for travel between any two points in the served area with reasonable convenience and average travel speed. To provide a thorough description and analysis of TTS, and to define precisely its role in urban areas, this study first presents a systematic review of various types of transit services, networks and methods of operation, defining characteristics, advantages and disadvantages of each one. A later part of the report (sections 4 to 7) focuses on the TTS, presenting all its basic elements as well as methodology for their planning and implementation. An example of TTS planning is given in section 8