doc.tex

\documentclass[10pt,conference]{IEEEtran}
\IEEEoverridecommandlockouts

\pdfminorversion=4
%\overrideIEEEmargins
\usepackage{pbox}

\usepackage{subfig}
\usepackage{graphicx}

\usepackage{framed,lipsum}
\usepackage{microtype}
%\usepackage[font=footnotesize]{caption}
%\usepackage{float}
\usepackage{booktabs} % For formal tables
\usepackage{centernot}
\usepackage[Algorithmus]{algorithm}
\usepackage{algorithmic}
\usepackage{amsmath,amssymb,amsfonts}
\usepackage{balance}

\usepackage{graphicx}


\usepackage{array}
\usepackage{color}
\usepackage{listings}
%\usepackage[pdftex,bookmarks=false]{hyperref}
%\hypersetup{colorlinks=true,urlcolor=black,linkcolor=black,citecolor=black}


\newcommand \tab[1][1cm]{\hspace*{#1}}

%\usepackage{framed,lipsum}
%\usepackage{float}

\definecolor{codegreen}{rgb}{0,0.6,0}
\definecolor{codegray}{rgb}{0.5,0.5,0.5}
\definecolor{codepurple}{rgb}{0.58,0,0.82}
\definecolor{backcolour}{rgb}{0.95,0.95,0.92}
\definecolor{xtext}{RGB}{178, 14, 140}
%Code listing style named "mystyle"
\lstdefinestyle{mystyle}{
	commentstyle=\color{codegreen},
	keywordstyle=\color{magenta},
	numberstyle=\tiny\color{codegray},
	stringstyle=\color{codepurple},
	basicstyle=\scriptsize,
	breakatwhitespace=false,         
	breaklines=true,                 
	captionpos=b,                    
	keepspaces=true,                 
	numbers=none,                    
	numbersep=5pt,                  
	showspaces=false,                
	showstringspaces=false,
	showtabs=false,                  
	tabsize=2
}
%"mystyle" code listing set
\lstset{style=mystyle}

\usepackage{threeparttable}

\usepackage{url}
\usepackage{ltl}

%\usepackage{booktabs} % For formal tables
\usepackage{centernot}
\usepackage{algorithm}
\usepackage{algorithmic}
\usepackage{amsmath,amssymb,amsfonts}
%\usepackage{balance}
\let\labelindent\relax
\usepackage[inline]{enumitem}
\usepackage{rotating}
\usepackage{multirow}
\usepackage{tikz}
\usepackage{tabularx}
\usepackage{tabulary}
\usepackage{threeparttable}
\usepackage{rotating} %sidewaystable
\usepackage{microtype}
\usepackage{url}
\usepackage[normalem]{ulem}
\usepackage{chngpage}
\usepackage{relsize}
\usepackage{xspace}
%\usepackage{cite}
\usepackage{tcolorbox}

\newcommand{\totalrequirements}{208}
\newcommand{\notcoveredrequirements}{56}
\newcommand{\unbounded}{\ensuremath{\mathcal{N}}}
\newcommand{\bounded}{\ensuremath{\mathcal{T}}}
\newcommand{\setrobot}{\ensuremath{\mathcal{R}}}
\newcommand{\settasks}{\ensuremath{\mathcal{T}}}
\newcommand{\setpatterns}{\ensuremath{\mathcal{P}}}
\newcommand{\setareas}{\ensuremath{\mathcal{L}}}
\newcommand{\setareasOrdered}{\ensuremath{\mathcal{L_O}}}
\newcommand{\execute}{\ensuremath{\mathbb{E}}}
\newcommand{\query}{\ensuremath{\mathbb{Q}}}
\newcommand{\executeAll}{\ensuremath{\mathbb{E}_{All}}}
\newcommand{\setconditions}{\ensuremath{\mathcal{C}}}

\newcommand{\patternstoltl}{\ensuremath{\mathcal{PL}}}
\newcommand{\planner}{\ensuremath{\mathcal{J}}}
\newcommand{\execution}{\ensuremath{\mathcal{E}}}

\newcommand*\circled[1]{\tikz[baseline=(char.base)]{
		\node[shape=circle,draw,inner sep=2pt] (char) {#1};}}

\usepackage[colorinlistoftodos,prependcaption,textsize=tiny]{todonotes}

\newboolean{showcomments}
\setboolean{showcomments}{true} % toggle to show or hide comments
\ifthenelse{\boolean{showcomments}}
{\newcommand{\nb}[2]{
		\fcolorbox{black}{yellow}{\bfseries\sffamily\scriptsize#1}
		{\sf\small$\blacktriangleright$\textit{#2}$\blacktriangleleft$}
	}
	\newcommand{\version}{\emph{\scriptsize$-$working$-$}}
}
{\newcommand{\nb}[2]{}
	\newcommand{\version}{}
}
\newcommand\patrizio[1]{\nb{Patrizio}{#1}}
\newcommand\claudio[1]{\nb{Claudio}{#1}}
\newcommand\sergio[1]{\nb{Sergio}{#1}}
\newcommand\tb[1]{\nb{Thorsten}{#1}}
\newcommand\tomas[1]{\nb{Tomas}{#1}}

\usepackage{listings}
\colorlet{light-gray}{gray!20}
\newtheorem{remark}{Remark}
\newtheorem{problem}{Problem}
\usepackage[inline]{enumitem}


% correct bad hyphenation here
\hyphenation{op-tical net-works semi-conduc-tor}

% Macros for proof-reading
\usepackage[normalem]{ulem} % for \sout
\usepackage{xcolor}
\newcommand{\ra}{$\rightarrow$}
\newcommand{\ugh}[1]{\textcolor{red}{\uwave{#1}}} % please rephrase
\newcommand{\ins}[1]{\textcolor{blue}{\uline{#1}}} % please insert
\newcommand{\del}[1]{\textcolor{red}{\sout{#1}}} % please delete
\newcommand{\chg}[2]{\textcolor{red}{\sout{#1}}{\ra}\textcolor{blue}{\uline{#2}}} % please change

\setlength{\belowcaptionskip}{-20pt}
%\setlength{\textfloatsep}{1pt} 
%\setlength{\intextsep}{1pt}

\newcommand{\sera}{SERA\xspace}
\newcommand\parhead[1]{\vspace{.26mm}\noindent\textbf{{#1}}.}

\newcommand{\secref}[1]{Sec.\,\ref{#1}}
\newcommand{\Secref}[1]{Sec.\,\ref{#1}} %use at beginning of sentences (no abbrev. allowed)
\newcommand{\figref}[1]{Fig.\,\ref{#1}}
\newcommand{\Figref}[1]{Figure\,\ref{#1}} % use at beginning of sentence (no abbrev. allowed)
\newcommand{\tabref}[1]{Table\,\ref{#1}}
\newcommand{\lstref}[1]{Listing\,\ref{#1}}

\newcommand{\foot}[1]{\footnote{\url{#1}}}

\newcommand{\Cite}[1]{~\cite{#1}}

\newcommand{\toolName}{MAPmAKER}
\newcommand{\APs}{\mathbf{\Pi}}
\newcommand{\Lang}{\mathcal{L}} %language
\newcommand{\Set}{\mathsf{S}} %set
\newcommand{\Spec}{\mathbf{\Phi}}
\newcommand{\Epsilon}{\mathcal{E}}
\renewcommand{\i}{\iota}
\newcommand{\Nat}{\mathbb{N}} %natural numbers
\newcommand{\Real}{\mathbb{R}}
\newcommand{\Next}{\mathsf{X}}
\newcommand{\Until}{\mathsf{U}}
\newcommand{\Always}{\mathsf{G}}
\newcommand{\Event}{\mathsf{F}}
\newcommand{\false}{\mathit{false}}
\newcommand{\true}{\mathit{true}}
\newcommand{\trueval}{\ensuremath{\top}}
\newcommand{\falseval}{\ensuremath{\bot}}
\newcommand{\maybe}{\ensuremath{?}}
\renewcommand{\epsilon}{\varepsilon}
\newcommand{\prop}{\pi}
\newcommand{\ie}{{i.e., }}
\newcommand{\eg}{{e.g., }}
\newcommand{\progressive}{\varpi}
\newcommand{\move}{\mathit{move}}
\newcommand{\h}{h}
\renewcommand{\H}{H}
\newcommand{\parti}{\mathit{P}}
\newcommand{\Alpha}{\mathbf{\Sigma}}
\renewcommand{\mod}{\mathrm{\, mod \, }}
\newcommand{\suc}{\mathit{succ}}
\newcommand{\dist}{\mathrm{dist}}
\newcommand{\proj}{\mathrm{proj}}
\newcommand{\parspace}{\vskip 0.05in}

\usepackage[bookmarks=false]{hyperref}
%\usepackage{hyperref}
\hypersetup{
	colorlinks=true,
	linkcolor=black,
	filecolor=black,      
	urlcolor=blue,
	citecolor=black
}
\urlstyle{same}



\usepackage{cite}
\IEEEoverridecommandlockouts   


\begin{document}
	
	
	\title{MAPmAKER: Performing Multi-Robot LTL Planning Under Uncertainty}

	
	\author{\IEEEauthorblockN{Sergio Garc\'{i}a\IEEEauthorrefmark{1}, 
			Claudio Menghi\IEEEauthorrefmark{2}, and
			Patrizio Pelliccione\IEEEauthorrefmark{1}\IEEEauthorrefmark{3}
			}
		\IEEEauthorblockA{\IEEEauthorrefmark{1}Chalmers $|$ University of Gothenburg, 
			Gothenburg (Sweden)\\
			\IEEEauthorrefmark{2} University of Luxembourg, 
			Luxembourg City (Luxembourg)\\
			\IEEEauthorrefmark{3} University of L'Aquila, 
			L'Aquila (Italy)\\
			Email: sergio.garcia@gu.se, claudio.menghi@uni.lu, patrizio.pelliccione@gu.se}
	}	
	
	\maketitle

	\begin{abstract}
		Robot applications are being increasingly used in real life to help humans performing dangerous, heavy, and/or monotonous tasks.
		They usually rely on planners that given a robot or a team of robots compute plans that specify how the robot(s) can fulfill their missions.
		Current robot applications ask for planners that make automated planning 
		%\emph{tractable}	\claudio{To me maybe we can relax the term tractable, because our planner does not make the problem tractable.. there are planners that work much better than ours. I would say only that work in a decentralized fashion.}  
		possible even when only \emph{partial knowledge} about the environment in which the robots are deployed is available.
		To tackle such challenges we developed \toolName, %\chg{a proof of concepts application  that}
		which provides a decentralized planning solution  and  is able to work in partially known environments.
		Decentralization is realized by decomposing the robotic team into subteams based on their missions, %\patrizio{not so clear}
		and then by running a classical planning algorithm.
		Partial knowledge is handled by calling several times  a classical planning algorithm.
		
		Demo video available at: \url{https://youtu.be/TJzC_u2yfzQ}
	\end{abstract}
	
	\section{Introduction}
	\input{Sections/introduction.tex}
	
	\section{MAPmAKER's Overview}
	\label{sec:approach}
	\input{Sections/approach.tex}
	
	\section{MAPmAKER in Action}
	\label{sec:tool}
	\input{Sections/tool.tex}
	
	
	\section{Evaluation}
	\label{sec:evaluation}
	\input{Sections/evaluation.tex}
	
	
	\section{Conclusion}
	\label{sec:conclusion}
	\input{Sections/conclusions.tex}

\section*{Acknowledgements}
This work was supported by the EU H2020 Research and Innovation Programme under GA No. 731869 (Co4Robots).

	\balance
	\bibliographystyle{IEEEtran}
	\bibliography{sigproc}
	
\end{document}