BEGIN:VCALENDAR VERSION:2.0 PRODID:IEEE vTools.Events//EN CALSCALE:GREGORIAN BEGIN:VTIMEZONE TZID:America/New_York BEGIN:DAYLIGHT DTSTART:20220313T030000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 RRULE:FREQ=YEARLY;BYDAY=2SU;BYMONTH=3 TZNAME:EDT END:DAYLIGHT BEGIN:STANDARD DTSTART:20221106T010000 TZOFFSETFROM:-0400 TZOFFSETTO:-0500 RRULE:FREQ=YEARLY;BYDAY=1SU;BYMONTH=11 TZNAME:EST END:STANDARD END:VTIMEZONE BEGIN:VEVENT DTSTAMP:20220915T002632Z UID:973B4F8C-CAD7-4D7B-A3CC-1171F6B79BE5 DTSTART;TZID=America/New_York:20220913T173000 DTEND;TZID=America/New_York:20220913T190000 DESCRIPTION:Many existing approaches for coordinating heterogeneous teams o f robots either consider small numbers of agents\, are application-specifi c\, or do not adequately address common real-world requirements\, e.g.\, s trict deadlines or intertask dependencies. We introduce scalable and robus t algorithms for task-based coordination from high-level specifications (S cRATCHeS) to coordinate such teams. We define a specification language\, c apability temporal logic\, to describe rich\, temporal properties involvin g tasks requiring the participation of multiple agents with multiple capab ilities\, e.g.\, sensors or end effectors. Arbitrary missions and team dyn amics are jointly encoded as constraints in a mixed integer linear program \, and solved efficiently using commercial off-the-shelf solvers. ScRATCHe S optionally allows optimization for maximal robustness to agent attrition at the penalty of increased computation time. We include an online replan ning algorithm that adjusts the plan after an agent has dropped out. The f lexible specification language\, fast solution time\, and optional robustn ess of ScRATCHeS provide a first step toward a multipurpose on-the-fly pla nning tool for tasking large teams of agents with multiple capabilities en acting missions with multiple tasks. We present randomized computational e xperiments to characterize scalability and hardware demonstrations to illu strate the applicability of our methods.\n\nSpeaker(s): Dr. Kevin Leahy \, \n\nmassrobotics\, Boston\, Massachusetts\, United States LOCATION:massrobotics\, Boston\, Massachusetts\, United States ORGANIZER:gmiragli@mathworks.com SEQUENCE:0 SUMMARY:Multi-Agent Coordination from High-Level Specifications URL;VALUE=URI:https://events.vtools.ieee.org/m/324110 X-ALT-DESC:Description: <br /><p>Many existing approaches for coordinating heterogeneous teams of robots either consider small numbers of agents\, ar e application-specific\, or do not adequately address common real-world re quirements\, e.g.\, strict deadlines or intertask dependencies. We introdu ce scalable and robust algorithms for task-based coordination from high-le vel specifications (ScRATCHeS) to coordinate such teams. We define a speci fication language\, capability temporal logic\, to describe rich\, tempora l properties involving tasks requiring the participation of multiple agent s with multiple capabilities\, e.g.\, sensors or end effectors. Arbitrary missions and team dynamics are jointly encoded as constraints in a mixed i nteger linear program\, and solved efficiently using commercial off-the-sh elf solvers. ScRATCHeS optionally allows optimization for maximal robustne ss to agent attrition at the penalty of increased computation time. We inc lude an online replanning algorithm that adjusts the plan after an agent h as dropped out. The flexible specification language\, fast solution time\, and optional robustness of ScRATCHeS provide a first step toward a multip urpose on-the-fly planning tool for tasking large teams of agents with mul tiple capabilities enacting missions with multiple tasks. We present rando mized computational experiments to characterize scalability and hardware d emonstrations to illustrate the applicability of our methods.</p> END:VEVENT END:VCALENDAR