6,245 research outputs found
Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications
This paper presents a framework for automatic synthesis of a control sequence
for multi-agent systems governed by continuous linear dynamics under timed
constraints. First, the motion of the agents in the workspace is abstracted
into individual Transition Systems (TS). Second, each agent is assigned with an
individual formula given in Metric Interval Temporal Logic (MITL) and in
parallel, the team of agents is assigned with a collaborative team formula. The
proposed method is based on a correct-by-construction control synthesis method,
and hence guarantees that the resulting closed-loop system will satisfy the
specifications. The specifications considers boolean-valued properties under
real-time. Extended simulations has been performed in order to demonstrate the
efficiency of the proposed controllers.Comment: 8 pages version of the accepted paper to IFAC World Congres
Cooperative Task Planning of Multi-Agent Systems Under Timed Temporal Specifications
In this paper the problem of cooperative task planning of multi-agent systems
when timed constraints are imposed to the system is investigated. We consider
timed constraints given by Metric Interval Temporal Logic (MITL). We propose a
method for automatic control synthesis in a two-stage systematic procedure.
With this method we guarantee that all the agents satisfy their own individual
task specifications as well as that the team satisfies a team global task
specification.Comment: Submitted to American Control Conference 201
Probabilistic Plan Synthesis for Coupled Multi-Agent Systems
This paper presents a fully automated procedure for controller synthesis for
multi-agent systems under the presence of uncertainties. We model the motion of
each of the agents in the environment as a Markov Decision Process (MDP)
and we assign to each agent one individual high-level formula given in
Probabilistic Computational Tree Logic (PCTL). Each agent may need to
collaborate with other agents in order to achieve a task. The collaboration is
imposed by sharing actions between the agents. We aim to design local control
policies such that each agent satisfies its individual PCTL formula. The
proposed algorithm builds on clustering the agents, MDP products construction
and controller policies design. We show that our approach has better
computational complexity than the centralized case, which traditionally suffers
from very high computational demands.Comment: IFAC WC 2017, Toulouse, Franc
Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems
This paper presents a fully automated procedure for controller synthesis for
a general class of multi-agent systems under coupling constraints. Each agent
is modeled with dynamics consisting of two terms: the first one models the
coupling constraints and the other one is an additional bounded control input.
We aim to design these inputs so that each agent meets an individual high-level
specification given as a Metric Interval Temporal Logic (MITL). Furthermore,
the connectivity of the initially connected agents, is required to be
maintained. First, assuming a polyhedral partition of the workspace, a novel
decentralized abstraction that provides controllers for each agent that
guarantee the transition between different regions is designed. The controllers
are the solution of a Robust Optimal Control Problem (ROCP) for each agent.
Second, by utilizing techniques from formal verification, an algorithm that
computes the individual runs which provably satisfy the high-level tasks is
provided. Finally, simulation results conducted in MATLAB environment verify
the performance of the proposed framework
Prescribed Performance Control Guided Policy Improvement for Satisfying Signal Temporal Logic Tasks
Signal temporal logic (STL) provides a user-friendly interface for defining
complex tasks for robotic systems. Recent efforts aim at designing control laws
or using reinforcement learning methods to find policies which guarantee
satisfaction of these tasks. While the former suffer from the trade-off between
task specification and computational complexity, the latter encounter
difficulties in exploration as the tasks become more complex and challenging to
satisfy. This paper proposes to combine the benefits of the two approaches and
use an efficient prescribed performance control (PPC) base law to guide
exploration within the reinforcement learning algorithm. The potential of the
method is demonstrated in a simulated environment through two sample
navigational tasks.Comment: This is the extended version of the paper accepted to the 2019
American Control Conference (ACC), Philadelphia (to be published
Robust Motion Planning employing Signal Temporal Logic
Motion planning classically concerns the problem of accomplishing a goal
configuration while avoiding obstacles. However, the need for more
sophisticated motion planning methodologies, taking temporal aspects into
account, has emerged. To address this issue, temporal logics have recently been
used to formulate such advanced specifications. This paper will consider Signal
Temporal Logic in combination with Model Predictive Control. A robustness
metric, called Discrete Average Space Robustness, is introduced and used to
maximize the satisfaction of specifications which results in a natural
robustness against noise. The comprised optimization problem is convex and
formulated as a Linear Program.Comment: 6 page
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