435 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
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
Formal Synthesis of Controllers for Safety-Critical Autonomous Systems: Developments and Challenges
In recent years, formal methods have been extensively used in the design of
autonomous systems. By employing mathematically rigorous techniques, formal
methods can provide fully automated reasoning processes with provable safety
guarantees for complex dynamic systems with intricate interactions between
continuous dynamics and discrete logics. This paper provides a comprehensive
review of formal controller synthesis techniques for safety-critical autonomous
systems. Specifically, we categorize the formal control synthesis problem based
on diverse system models, encompassing deterministic, non-deterministic, and
stochastic, and various formal safety-critical specifications involving logic,
real-time, and real-valued domains. The review covers fundamental formal
control synthesis techniques, including abstraction-based approaches and
abstraction-free methods. We explore the integration of data-driven synthesis
approaches in formal control synthesis. Furthermore, we review formal
techniques tailored for multi-agent systems (MAS), with a specific focus on
various approaches to address the scalability challenges in large-scale
systems. Finally, we discuss some recent trends and highlight research
challenges in this area
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