IEEE Trans Cybern. 2019 Feb;49(2):698-711. doi: 10.1109/TCYB.2018.2879905. Epub 2018 Nov 19.
This paper deals with the problem of environmental monitoring by designing and analyzing a cooperative receding horizon temporal logic (CRH-TL) control approach for mobile robot networks. First, a radial basis function network is used to model the distribution of environmental attributes in the monitored environment. On the basis of the established environment model, the problem of environmental monitoring can be formulated as a dynamical optimization problem. Second, an acceptable node set is obtained by enforcing appropriate constraints from linear temporal logic (LTL) specifications on the task of environmental monitoring. Third, by designing a cooperative energy function and using the acceptable node set, the CRH-TL control approach is proposed to generate the movement trajectory of each robot, which satisfies the given LTL specifications while guiding mobile robot networks to trace the peaks of environmental attributes. Finally, the effectiveness of the proposed CRH-TL control approach is illustrated for the problem of environmental monitoring.
本文通过设计和分析一种移动机器人网络的协同滚动时域时序逻辑（CRH-TL）控制方法来解决环境监测问题。首先，使用径向基函数网络来建模监测环境中环境属性的分布。基于建立的环境模型，环境监测问题可以被表述为一个动态优化问题。其次，通过对环境监测任务施加线性时序逻辑（LTL）规范的适当约束，得到可接受节点集。第三，通过设计协同能量函数并使用可接受节点集，提出了 CRH-TL 控制方法来生成每个机器人的运动轨迹，该轨迹满足给定的 LTL 规范，同时引导移动机器人网络追踪环境属性的峰值。最后，通过环境监测问题验证了所提出的 CRH-TL 控制方法的有效性。
