Cooperative task planning of multi-agent systems under timed temporal specifications

Abstract

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.

Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications * *This work was supported by the H2020 ERC Starting Grand BUCOPHSYS, the Swedish Research Council (VR), the Swedish Foundation for Strategic Research (SSF) and the Knut och Alice Wallenberg Foundation.

“…The contribution of this paper is summarized in four parts; (1) it extends the method suggested in [Nikou et al 2016b] with the ability to define the environment directly as a continuous linear system rather than treating the abstraction as a given, (2) it provides for a less computationally demanding alternative, (3) simulation results which support the claims are included, (4) it considers linear dynamics in contrast to the already investigated (in [Nikou et al 2016b]) single integrator. This paper is structured as follows.…”

“…This causes an overestimation of required time which increases the risk for false negative result. An alternative definition which allows the mentioned behaviour was suggested in [Nikou et al 2016b]. However, the definition suggested here requires less number of states and hence less computational time.…”

“…Here, we consider multi-agent systems and suggest an alternative time estimation and provide a proof for its validity. Furthermore, we present alternative definitions of the local BWTS, the product BWTS and the global BWTS, compared to the work presented in [Nikou et al 2016b]. The definitions suggested here requires a smaller number of states and hence, a lower computational demand.…”

“…The approach to solution suggested in this paper follows similar principles as in [Nikou et al 2016b]. Here however, we start from the continuous linear system itself rather than assuming an abstraction, by adding a way to abstract the environment in a suitable manner such that the transition time is taken explicitly into account.…”

“…The corresponding approach does not rely on automata-based verification, as it is based on a construction of linear inequalities and the solution of a resulting Mixed-Integer Linear Programming (MILP) problem. In our previous work [Nikou et al 2016b], we proposed an automatic framework for multiagent systems such that each agent satisfies an individual formula and the team of agents one global formula.…”