IEEE Robotics & Automation Magazine - September 2011 - 83
sequences of requests serviced by the team satisfy the specification. Moreover, no deadlock can occur when executing
the MS plans, since by construction, the synchronous
product of the local specifications wdRi contains at least one
word satisfying /. Therefore, this solution is provably correct. An algorithm following the procedure described above
that automatically generates a solution (if one exists) for any
distributable tasks can be found in [21]. This control and
deployment framework is summarized in Figure 5.
has two lanes and each lane is one way. A desktop computer is used to remotely control the traffic lights through
XBee wireless boards. Each parking lot consists of several
parking spaces, where each parking space can accommodate exactly one robot. The city is easily reconfigurable
through retaping and replacement of the wireless traffic
lights in intersections.
We use Khepera III robots for this experiment. Each
robot can sense when entering an intersection from a road,
when entering a road from an intersection, when passing
in front of a parking lot, when it is correctly parked in a
parking space, and when an obstacle is dangerously close.
Each robot can distinguish the color of a traffic light and
different parking spaces in the same parking lot. Each
robot is programmed with motion and communication
primitives, allowing it to safely drive on a road, turn in an
intersection, park, and communicate with other robots. All
the robots can communicate through wireless fidelity with
a desktop computer, which is used as an interface to the
Automatic Deployment in the RULE Platform
In this section, we show how the computational framework
described above can be used to deploy a team of robots
from a rich specification about servicing requests occurring in a miniature city. Our RULE shown in Figure 6 is a
collection of roads, intersections, and parking lots, which
are connected following a simple set of rules (e.g., a road
connects two intersections and the parking lots can only be
located on the side of a road). We assume that each road
Input: Task Specification
Check If the Task Is
Distributable
Yes
Synchronous Product
Implementable Team
Finite State Automation
Satisfying and
Implementable Word
Synchronous
Product
Projection
Individual Transition
System
Individual Transition
System
Local Task
Specification
v1
v0
v2
v2
v3
Local Task
Specification
v1
v0
Individual Transition
System
v2
v3
Local Task
Specification
v1
v0
v3
Abstraction
Refinement
U
U
U
...
Y
Hybrid
Controller
Y
Hybrid
Controller
Y
Hybrid
Controller
Figure 5. Top-down control and deployment framework.
SEPTEMBER 2011
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
83
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