Experimental testbed
for automatic deployment based on LTL specifications
Authors: Marius Kloetzer and
Center for
Information and Systems Engineering
{kmarius,cbelta}@bu.edu
Experimental setup:
Khepera III robots, and the computer we’re using:
Software and Experiments:
1 robot:
Our software implementation (in Matlab): 1_robot
Specification: “Visit the green region, then the red region while avoiding both blue regions, and then survey the blue regions”
Movies (in divx format): computer perspective [3.1MB] external camera (mix)
[9.2MB] external camera (full) [17.4MB]
2 robots:
Our software implementation (in Matlab): 2_robots
Specification: “Avoiding both blue regions until the green and the red regions are simultaneously entered, and then visit any one of the blue regions”
Movies (in divx format): computer perspective [2MB] external camera (mix)
[4.6MB] external camera (full) [12.8MB]
If you use any of these software packages, please cite:
M. Kloetzer, Symbolic Motion Planning and Control, PhD thesis,