High-Level Mission Specification for Multiple Robots
summary
A domain-specific language named PROMISE specifies multi-robot missions as composable movement and task patterns with operators like parallel, delegate, fallback, sequence and event handlers, and compiles to LTL formulas sent to per-robot LTL planners. Implementation includes a textual Xtext and a graphical Eclipse Sirius editor, a compiler and an interpreter integrated into a component-based architecture. Evaluation runs three RoboCup@Home missions on two robots plus user studies (two studies; all participants completed assigned blocks and validated solutions), and the implementation works though runtime reconfiguration remains future work.
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chapters (17)
- 0:00Introduction
- 0:10Ambition
- 1:04The Same Source
- 1:43Examples
- 2:50Context
- 5:16Specification Patterns
- 6:35Purpose
- 7:09Limitations
- 8:02Operators
- 10:17Sequence Operator
- 15:30Tool Chain
- 16:25Build Support
- 17:28Research Questions
- 19:36User Studies
- 21:51Future Work
- 22:45GitHub
- 23:24System Architecture
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