Usman A. Fiaz ( UID: 115515284, Email: [email protected] )

Please see the replies accordingly:

1.
__Will you show all the 7 bullets listed on the WWW page?__

Yes, I plan on doing all 7 bullets. I'll at least do one solution approach from the three, I've listed there. It may seem a bit tall for a commitment, but I have some part of it done already so, it is do-able in this semester I guess.

2.__Is your approach centralized or decentralized? __

It is decentralized. For this semester project, I may consider some limited-information based consensus i.e., the location of an agent known to another etc. (which can be sensed in real-time) as well, to simplify the problem.

3.__Are you considering a large number of UAVs? __

Eventually yes. But, for this project, I'll just use two or three UAVs.

Yes, I plan on doing all 7 bullets. I'll at least do one solution approach from the three, I've listed there. It may seem a bit tall for a commitment, but I have some part of it done already so, it is do-able in this semester I guess.

2.

It is decentralized. For this semester project, I may consider some limited-information based consensus i.e., the location of an agent known to another etc. (which can be sensed in real-time) as well, to simplify the problem.

3.

Eventually yes. But, for this project, I'll just use two or three UAVs.

4.
__What are the intrinsic benefits of MTL?__

MTL lets you specify tasks in a mathematically abstract way, which can explicitly express finite timing constraints. For example, think of a task where: the robot needs to rescue a person from location A to B in 10 seconds while avoiding an obstacle along the way. This specification can be written down as a MTL formula, and then we have some theories and approaches to guarantee that this task can be accomplished, which come from formal methods for CPS. These problems can be then attacked via timed-automata, or MILP, or C-space approaches.

5.__Regarding the paper that Prof. Manocha shared (ArXiv):__

Yes, you sent that paper earlier. Yes, I intend to do a comparison. If possible, maybe we can combine the two approaches as well. I'll have to do some more study about this though.

MTL lets you specify tasks in a mathematically abstract way, which can explicitly express finite timing constraints. For example, think of a task where: the robot needs to rescue a person from location A to B in 10 seconds while avoiding an obstacle along the way. This specification can be written down as a MTL formula, and then we have some theories and approaches to guarantee that this task can be accomplished, which come from formal methods for CPS. These problems can be then attacked via timed-automata, or MILP, or C-space approaches.

5.

Yes, you sent that paper earlier. Yes, I intend to do a comparison. If possible, maybe we can combine the two approaches as well. I'll have to do some more study about this though.

Notice: This page is unlisted on the actual website, and is only accessible to visitors via direct sharing. Use of this page and the information that is posted, or will be posted here in future, is only for the course instructor's knowledge, and for correspondence.

Usman A. Fiaz ( UID: 115515284, Email: [email protected] )

1. Define a sample or benchmark mission with a team of UAVs; for instance a search and rescue scenario.

2. Define the specific task, which will be represented as a MTL formula.

3. Define the workspace: i.e., admissible areas, obstacles, boundary, and starting and finishing points.

4. Formulate the problem as an optimal control problem with suitable cost, hybrid system dynamics, and subject to task specs.

5. Define/explore solution strategies; i.e., MILP, Timed-Automata Approach, C-Space methods etc.

6. Perform a simple simulation for the chosen approach.

7. Comparison among two or more approaches.

* Will try to modify 4-7 to incorporate/compare the approach used/suggested by Prof. Manocha. Also, I am more of an application oriented person, so I plan to implement and experiment with these methods in the ARC Lab, that I am currently developing. It may not happen this semester, but I am aiming for that in the Summer, and in the Fall.

Notice: This page is unlisted on the actual website, and is only accessible to visitors via direct sharing. Use of this page and the information that is posted, or will be posted here in future, is only for the course instructor's knowledge, and for correspondence.