Device and method for controlling one or more robots

A robot system, comprising:

• one or more robots;
• wherein the robot system is configured to control the one or more robots, the robot system configured to:
• determine, for each robot of the one or more robots, a labeled Markov decision process for each skill of one or more skills which the robot is able to implement, each labeled Markov decision process having a labeling function which indicates for each state of a plurality of states of the labeled Markov decision process, whether one or more control conditions of a plurality of predetermined control conditions is able to be satisfied;
• provide a control mission defined by a mission specification, the mission specification having a time sequence over a subset of the plurality of predetermined control conditions;
• and
• control the one or more robots to execute the control mission in such a way that the control conditions of states of the one or more robots contained in the mission specification are satisfied, wherein:
• each of the plurality of control conditions is represented by a respective atomic proposition, and
• the labeling function maps the states only to atomic propositions corresponding to conditions that can be satisfied.

A device configured to control one or more robots, the device configured to:

• determine, for each robot of the one or more robots, a labeled Markov decision process for each skill of one or more skills which the robot is able to implement, each labeled Markov decision process having a labeling function which indicates for each state of a plurality of states of the labeled Markov decision process, whether one or more control conditions of a plurality of predetermined control conditions is able to be satisfied;
• provide a control mission defined by a mission specification, the mission specification having a time sequence over a subset of the plurality of predetermined control conditions;
• and
• control the one or more robots to execute the control mission in such a way that the control conditions of states of the one or more robots contained in the mission specification are satisfied, wherein:
• each of the plurality of control conditions is represented by a respective atomic proposition, and
• the labeling function maps the states only to atomic propositions corresponding to conditions that can be satisfied.

A non-volatile storage medium on which is stored a computer program including program instructions for controlling one or more robots, the program instructions, when executed by a computer, causing the computer to perform the following steps:

• determining, for each robot of the one or more robots, a labeled Markov decision process for each skill of one or more skills which the robot is able to implement, each labeled Markov decision process having a labeling function which indicates for each state of a plurality of states of the labeled Markov decision process, whether one or more control conditions of a plurality of predetermined control conditions is able to be satisfied;
• providing a control mission defined by a mission specification, the mission specification having a time sequence over a subset of the plurality of predetermined control conditions;
• and
• controlling the one or more robots to execute the control mission in such a way that the control conditions of states of the one or more robots contained in the mission specification are satisfied, wherein:
• each of the plurality of control conditions is represented by a respective atomic proposition, and
• the labeling function maps the states only to atomic propositions corresponding to conditions that can be satisfied.