Optimization of Multi-agent Motion Programs with Applications to Robotic Marionettes

In this paper, we consider the problem of generating optimized, executable control code from high-level, symbolic specifications. In particular, we construct symbolic control programs using strings from a motion description language with a nominal set of motion parameters, such as temporal duration and energy, embedded within each mode. These parameters are then optimized over, using tools from optimal switch-time control and decentralized optimization of separable network problems. The resulting methodology is applied to the problem of controlling robotic marionettes, and we demonstrate its operation on an example scenario involving symbolic puppet plays defined for multiple puppets.