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arXiv · 2402.00296

High-Level, Collaborative Task Planning Grammar and Execution for Heterogeneous Agents

Amy Fang·Hadas Kress-Gazit
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Abstract

We propose a new multi-agent task grammar to encode collaborative tasks for a team of heterogeneous agents that can have overlapping capabilities. The grammar allows users to specify the relationship between agents and parts of the task without providing explicit assignments or constraints on the number of agents required. We develop a method to automatically find a team of agents and synthesize correct-by-construction control with synchronization policies to satisfy the task. We demonstrate the scalability of our approach through simulation and compare our method to existing task grammars that encode multi-agent tasks.

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Amy Fang, Hadas Kress-Gazit. 2024-02-01. High-Level, Collaborative Task Planning Grammar and Execution for Heterogeneous Agents. https://arxiv.org/abs/2402.00296

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