A Formal Approach to Deployment of Robotic Teams in an Urban-Like Environment

We present a computational framework for automatic synthesis of control and communication strategies for a robotic team from task specifications given as regular expressions about servicing requests in an environment. Our approach is based on two main ideas. First, we extend recent results from formal synthesis of distributed systems to check for the distributability of the task specification and to generate local specifications, while accounting for the service and communication capabilities of the robots. Second, by using a technique inspired from LTL model checking, we generate individual control and communication strategies. We illustrate the method with experimental results in our Robotic Urban-Like Environment.