Multi-agent system motion planning under temporal logic specifications and control barrier function

被引：4
作者：
Huang, Xinyuan [1 ,2 ]
Li, Li [1 ,2 ]
Chen, Jie [1 ,2 ]
机构：
[1] Tongji Univ, Coll Elect & Informat Engn, Shanghai 201804, Peoples R China
[2] Shanghai Res Inst Intelligent Autonomous Syst, Shanghai 201210, Peoples R China
来源：
CONTROL THEORY AND TECHNOLOGY | 2020年 / 18卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Temporal logic; multi-agent system; formal methods; control barrier function;
D O I：
10.1007/s11768-020-0110-6
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we provide a novel scheme to solve the motion planning problem of multi-agent systems under high-level task specifications. First, linear temporal logic is applied to express the global task specification. Then an efficient and decentralized algorithm is proposed to decompose it into local tasks. Moreover, we use control barrier function to synthesize the local controller for each agent under the linear temporal logic motion plan with safety constraint. Finally, simulation results show the effectiveness and efficiency of our proposed scheme.
引用
收藏
页码：269 / 278
页数：10
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