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 twostage 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.
This paper presents a fully automated procedure for controller synthesis for multiagent 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). First, a decentralized abstraction that provides a space and time discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal verification, we propose an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example conducted in MATLAB environment.
This paper addresses the tracking control problem of 3D trajectories for underactuated underwater robotic vehicles operating in a constrained workspace including obstacles. More specifically, a robust Nonlinear Model Predictive Control (NMPC) scheme is presented for the case of underactuated Autonomous Underwater Vehicles (AUVs) (i.e., unicycle-like vehicles actuated only in surge, heave and yaw). The purpose of the controller is to steer the unicycle-like AUV to a desired trajectory with guaranteed input and state constraints (e.g., obstacles, predefined vehicle velocity bounds, thruster saturations) inside a partially known and dynamic environment where the knowledge of the operating workspace is constantly updated via the vehicle's on-board sensors. In particular, considering the sensing range of the vehicle, obstacle avoidance with any of the detected obstacles is guaranteed, by on-line generation of a collision-free trajectory tracking path, despite the model dynamic uncertainties and the presence of external disturbances representing ocean currents and waves. Finally, realistic simulation studies verify the performance and efficiency of the proposed framework.
Abstract-In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined by taking into consideration the desired actuation forces and torques applied to the end-effector of the system. The framework of the proposed system is designed in a CAD Package in order to evaluate the system parameter values. Following this, the kinematic and dynamic models are developed and an adaptive backstepping controller is designed aiming to control the exact position and orientation of the end-effector in the Cartesian space. Finally, the performance of the system is demonstrated through a simulation study, where a manipulation task scenario is investigated.
This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are decentralized, in the sense that each agent uses only local relative information from its neighbors to calculate its control signal, as well as robust with respect to modeling (parametric and structural) uncertainties and external disturbances. The proposed methodology guarantees the satisfaction of inter-agent distance constraints that resemble collision avoidance and connectivity maintenance properties. Moreover, certain predefined functions characterize the transient and steady state performance of the closed loop system. Finally, simulation results verify the validity and efficiency of the proposed approach.
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