Utilizing Internal State in Multi-Robot Coordination Tasks

Chris Jones and Maja J. Mataric

In this paper, we present a principled framework suitable for describing and reasoning about the intertwined entities involved in any task-achieving multi-robot system -- the task environment, task definition, and the capabilities of the robots themselves. Using this framework, we present a systematic procedure by which to synthesize controllers for robots in a multi-robot system such that a given sequential task is correctly executed.


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