2,517 research outputs found
Multi-Agent Motion Planning and Object Transportation under High Level Goals
This paper presents a hybrid control framework for the motion planning of a
multi-agent system including N robotic agents and M objects, under high level
goals. In particular, we design control protocols that allow the transition of
the agents as well as the transportation of the objects by the agents, among
predefined regions of interest in the workspace. This allows us to abstract the
coupled behavior of the agents and the objects as a finite transition system
and to design a high-level multi-agent plan that satisfies the agents' and the
objects' specifications, given as temporal logic formulas. Simulation results
verify the proposed framework.Comment: To appear in the World Congress of the International Federation of
Automatic Control (IFAC), Toulouse, France, July 201
Robust Connectivity Analysis for Multi-Agent Systems
In this report we provide a decentralized robust control approach, which
guarantees that connectivity of a multi-agent network is maintained when
certain bounded input terms are added to the control strategy. Our main
motivation for this framework is to determine abstractions for multi-agent
systems under coupled constraints which are further exploited for high level
plan generation.Comment: 20 page
Decentralized Abstractions for Feedback Interconnected Multi-Agent Systems
The purpose of this report is to define abstractions for multi-agent systems
under coupled constraints. In the proposed decentralized framework, we specify
a finite or countable transition system for each agent which only takes into
account the discrete positions of its neighbors. The dynamics of the considered
systems consist of two components. An appropriate feedback law which guarantees
that certain performance requirements (eg. connectivity) are preserved and
induces the coupled constraints and additional free inputs which we exploit in
order to accomplish high level tasks. In this work we provide sufficient
conditions on the space and time discretization of the system which ensure that
we can extract a well posed and hence meaningful finite transition system.Comment: 15 page
- …