25,347 research outputs found
Controller Synthesis of Collaborative Signal Temporal Logic Tasks for Multi-Agent Systems via Assume-Guarantee Contracts
This paper considers the problem of controller synthesis of signal temporal
logic (STL) specifications for large-scale multi-agent systems, where the
agents are dynamically coupled and subject to collaborative tasks. A
compositional framework based on continuous-time assume-guarantee contracts is
developed to break the complex and large synthesis problem into subproblems of
manageable sizes. We first show how to formulate the collaborative STL tasks as
assume-guarantee contracts by leveraging the idea of funnel-based control. The
concept of contracts is used to establish our compositionality result, which
allows us to guarantee the satisfaction of a global contract by the multi-agent
system when all agents satisfy their local contracts. Then, a closed-form
continuous-time feedback controller is designed to enforce local contracts over
the agents in a distributed manner, which further guarantees the global task
satisfaction based on the compositionality result. Finally, the effectiveness
of our results is demonstrated by two numerical examples.Comment: arXiv admin note: substantial text overlap with arXiv:2203.1004
Barrier Function-based Distributed Symbolic Controller for Multi-Agent Systems
Because of the scalability issues associated with the symbolic controller
synthesis approach, employing it in a multi-agent system (MAS) framework
becomes difficult. In this paper, we present a novel approach for synthesizing
distributed symbolic controllers for MAS, that enforces a local Linear Temporal
Logic (LTL) specification on each agent and global safety specifications on the
MAS, in a computationally efficient manner by leveraging the concept of control
barrier functions (CBF). In addition, we also provide an analysis on the effect
of the CBF parameters on the conservatism introduced by our proposed approach
in the size and domain of the synthesized controller. The effectiveness of this
approach is demonstrated through a comparison with the conventional monolithic
symbolic control, using simulation as well as hardware demonstrations.Comment: Provided analysis on conservatism of the controlle
Asynchronous Games over Tree Architectures
We consider the task of controlling in a distributed way a Zielonka
asynchronous automaton. Every process of a controller has access to its causal
past to determine the next set of actions it proposes to play. An action can be
played only if every process controlling this action proposes to play it. We
consider reachability objectives: every process should reach its set of final
states. We show that this control problem is decidable for tree architectures,
where every process can communicate with its parent, its children, and with the
environment. The complexity of our algorithm is l-fold exponential with l being
the height of the tree representing the architecture. We show that this is
unavoidable by showing that even for three processes the problem is
EXPTIME-complete, and that it is non-elementary in general
A Map-Reduce Parallel Approach to Automatic Synthesis of Control Software
Many Control Systems are indeed Software Based Control Systems, i.e. control
systems whose controller consists of control software running on a
microcontroller device. This motivates investigation on Formal Model Based
Design approaches for automatic synthesis of control software.
Available algorithms and tools (e.g., QKS) may require weeks or even months
of computation to synthesize control software for large-size systems. This
motivates search for parallel algorithms for control software synthesis.
In this paper, we present a Map-Reduce style parallel algorithm for control
software synthesis when the controlled system (plant) is modeled as discrete
time linear hybrid system. Furthermore we present an MPI-based implementation
PQKS of our algorithm. To the best of our knowledge, this is the first parallel
approach for control software synthesis.
We experimentally show effectiveness of PQKS on two classical control
synthesis problems: the inverted pendulum and the multi-input buck DC/DC
converter. Experiments show that PQKS efficiency is above 65%. As an example,
PQKS requires about 16 hours to complete the synthesis of control software for
the pendulum on a cluster with 60 processors, instead of the 25 days needed by
the sequential algorithm in QKS.Comment: To be submitted to TACAS 2013. arXiv admin note: substantial text
overlap with arXiv:1207.4474, arXiv:1207.409
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