Contribution in edited book
Using Incomplete Satisfiability Modulo Theories to Determine Robotic Tasks



Publication Details
Authors:
Niemczyk, S.; Witsch, A.; Skubch, H.; Geihs, K.
Editor:
IEEE
Publisher:
IEEE
Place:
Tokyo, Japan
Publication year:
2013
Pages range:
TBD
Book title:
IEEE International Workshop on Intelligent Robots and Systems (IROS)

Abstract
Many robotic task specifications can be naturally expressed by boolean combinations of arbitrary constraints. This allows a separation of problem description and solution strategy. In this paper, we present a novel approach to solve non-linear constraint systems based on Satisfiability Modulo Theories. While most SMT-based techniques emphasize completeness, we intentionally use an incomplete local search strategy. Despite this incompleteness, the presented solution is able to deal with many real world problems like task allocation or robot positioning. We show that our approach is able to exploit the logical structure to solve highly complex tasks almost in real-time.


Keywords
agent, algorithm, constraint, coordination, incomplete, modulo, multi, robot, satisfaction, satisfiability, theories

Last updated on 2019-25-07 at 13:09