Multi-agent plan reconfiguration under local LTL specifications

Guo, Meng; Dimarogonas, Dimos V.

doi:10.1177/0278364914546174

Cited by 190 publications

(195 citation statements)

References 44 publications

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“…The corresponding Büchi automaton A θ and the product Π of S n and A θ are computed with the software P-MAS-TG described in Guo and Dimarogonas (2015). The remaining implementation of Algorithm 5 is done on Matlab.…”

Section: Numerical Illustrationmentioning

confidence: 99%

Abstraction refinement and plan revision for control synthesis under high level specifications

Meyer

Dimarogonas

2017

IFAC-PapersOnLine

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This paper presents a novel framework combining abstraction refinement and plan revision for control synthesis problems under temporal logic specifications. The control problem is first solved on a simpler nominal model in order to obtain a satisfying plan to be followed by the real system. A controller synthesis is then attempted for an abstraction of the real system to follow this plan. Upon failure of this synthesis, cost functions are defined to guide towards either refining the initially coarse partition to obtain a finer abstraction, or looking for an alternative plan using the nominal model as above. This tentative synthesis is then repeated until a plan and an abstraction of the real system able to follow this plan are found. The obtained controller also ensures that the real system satisfies the initial specification. A numerical example is provided to illustrate this framework.

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Section: Numerical Illustrationmentioning

confidence: 99%

Abstraction refinement and plan revision for control synthesis under high level specifications

Meyer

Dimarogonas

2017

IFAC-PapersOnLine

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“…In contrast, we assume that there is no pre-specified global task and individual tasks are assigned locally to each agent as LTL formulas, which favors a bottom-up formulation [11], [12], [24]. It is particularly useful for multi-agent systems where the number of agents is large and the agents have clear task assignments given their heterogeneous capabilities.…”

Section: Introductionmentioning

confidence: 99%

“…It is particularly useful for multi-agent systems where the number of agents is large and the agents have clear task assignments given their heterogeneous capabilities. The case where these local tasks are fully independent is considered in [12] for a partially-known workspace. Additional relative-motion constraints among neighboring agents such as relative-distance and connectivity maintenance constraints are addressed in [3], [20].…”

Section: Introductionmentioning

confidence: 99%

Task and Motion Coordination for Heterogeneous Multiagent Systems With Loosely Coupled Local Tasks

Guo

Dimarogonas

2017

IEEE Trans. Automat. Sci. Eng.

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We consider a multiagent system that consists of heterogeneous groups of homogeneous agents. Instead of defining a global task for the whole team, each agent is assigned a local task as syntactically cosafe linear temporal logic formulas that specify both motion and action requirements. Interagent dependence is introduced by collaborative actions, of which the execution requires multiple agents' collaboration. To ensure the satisfaction of all local tasks without central coordination, we propose a bottom-up motion and task coordination strategy that contains an off-line initial plan synthesis and an online coordination scheme based on real-time exchange of request and reply messages. It facilitates not only the collaboration among heterogeneous agents but also the task swapping between homogeneous agents to reduce the total execution cost. It is distributed as any decision is made locally by each agent based on local computation and communication within neighboring agents. It is scalable and resilient to agent failures as the dependence is formed and removed dynamically based on agent capabilities and their plan execution status, instead of preassigned agent identities. The overall scheme is demonstrated by a simulated scenario of 20 agents with loosely coupled local tasks.

the Swedish Research Council (VR)

H2020 ERC Starting Grant BUCOPHSYS

EU STREP RECONFIG: FP7-ICT-2011-9-600825.

QC 20170614

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“…Control synthesis for multi-agent systems under LTL specifications has been addressed in [Kloetzer et al 2011, Guo and Dimarogonas 2015, Kantaros and Zavlanos 2016. Due to the fact that we are interested in imposing timed constraints to the system, the aforementioned works cannot be directly utilized.…”

Section: Introductionmentioning

confidence: 99%

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.

2017

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This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the motion of the agents in the workspace is abstracted into individual Transition Systems (TS). Second, each agent is assigned with an individual formula given in Metric Interval Temporal Logic (MITL) and in parallel, the team of agents is assigned with a collaborative team formula. The proposed method is based on a correct-by-construction control synthesis method, and hence guarantees that the resulting closed-loop system will satisfy the specifications. The specifications considers boolean-valued properties under real-time. Extended simulations has been performed in order to demonstrate the efficiency of the proposed controllers.Keywords: Reachability analysis, verification and abstraction of hybrid systems, Multi-agent systems, Control design for hybrid systems, Modelling and control of hybrid and discrete event systems, Temporal Logic

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Multi-agent plan reconfiguration under local LTL specifications

Cited by 190 publications

References 44 publications

Abstraction refinement and plan revision for control synthesis under high level specifications

Abstraction refinement and plan revision for control synthesis under high level specifications

Task and Motion Coordination for Heterogeneous Multiagent Systems With Loosely Coupled Local Tasks

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.

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