211 research outputs found
Cooperative Decentralized Multi-agent Control under Local LTL Tasks and Connectivity Constraints
We propose a framework for the decentralized control of a team of agents that
are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas.
Each local LTL task specification captures both the requirements on the
respective agent's behavior and the requests for the other agents'
collaborations needed to accomplish the task. Furthermore, the agents are
subject to communication constraints. The presented solution follows the
automata-theoretic approach to LTL model checking, however, it avoids the
computationally demanding construction of synchronized product system between
the agents. We suggest a decentralized coordination among the agents through a
dynamic leader-follower scheme, to guarantee the low-level connectivity
maintenance at all times and a progress towards the satisfaction of the
leader's task. By a systematic leader switching, we ensure that each agent's
task will be accomplished.Comment: full version of CDC 2014 submissio
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
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
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