RMTool: recent enhancements

TitleRMTool: recent enhancements
Publication TypeConference Paper
Year of Publication2017
AuthorsParrilla, L, Mahulea C, Kloetzer M
Conference NameIFAC WC'2017: 20th World Congress of the International Federation of Automatic Control
Date Published07/2017
Conference LocationToulouse, France
AbstractThis paper presents the enhancements introduced in the second version of RMTool, an opensource Matlab-based interactive software for teaching mobile robotics in introductory courses. In the first version only navigation problem of one robot has been considered (the robot should avoid obstacles and reach a desired position). In the actual version, the toolbox introduces new algorithms to cope with modeling and path planning of multiple identical robots, where the final states of the robots and the regions visited along trajectories should satisfy Linear Temporal Logic (LTL) or Boolean-based formulas. The paper includes extensive simulation results performed in RMTool, pertained to multi-robot path planning based on an LTL or Boolean team specification.