3 papers
cs.RO2024
Online Resynthesis of High-Level Collaborative Tasks for Robots with Changing Capabilities
Amy Fang, Tenny Yin, Hadas Kress-Gazit
Given a collaborative high-level task and a team of heterogeneous robots and behaviors to satisfy it, this work focuses on the challenge of automatically, at runtime, adjusting the…
cs.RO2024
Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams
Amy Fang, Tenny Yin, Jiawei Lin +1
We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We enco…
cs.RO2024
High-Level, Collaborative Task Planning Grammar and Execution for Heterogeneous Agents
Amy Fang, Hadas Kress-Gazit
We propose a new multi-agent task grammar to encode collaborative tasks for a team of heterogeneous agents that can have overlapping capabilities. The grammar allows users to speci…