Cooperative Planning for Coupled Multi-Agent Systems under Timed Temporal Specifications

被引：0

作者：

Nikou, Alexandros ^{[1
,2
]}

Boskos, Dimitris ^{[1
,2
]}

Tumova, Jana ^{[1
,2
]}

Dimarogonas, Dimos V. ^{[1
,2
]}

机构：

[1] KTH Royal Inst Technol, Sch Elect Engn, ACCESS Linnaeus Ctr, SE-10044 Stockholm, Sweden

[2] KTH Ctr Autonomous Syst, Stockholm, Sweden

来源：

2017 AMERICAN CONTROL CONFERENCE (ACC) | 2017年

基金：

瑞典研究理事会; 欧盟地平线“2020”;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent has 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). First, a decentralized abstraction that provides a time and space discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal verification, we provide an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example.

引用

页码：1847 / 1852

页数：6

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