On the timed temporal logic planning of coupled multi-agent systems

被引：30

作者：

Nikou, Alexandros ^{[1
]}

Boskos, Dimitris

Tumova, Jana

Dimarogonas, Dimos V.

机构：

[1] KTH Royal Inst Technol, KTH Ctr Autonomous Syst, SE-10044 Stockholm, Sweden

来源：

AUTOMATICA | 2018年 / 97卷

基金：

欧盟地平线“2020”; 瑞典研究理事会;

关键词：

Multi-agent systems; Cooperative control; Hybrid systems; Formal verification; Timed logics; Abstractions; Discrete event systems;

D O I：

10.1016/j.automatica.2018.08.023

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 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. (C) 2018 Elsevier Ltd. All rights reserved.

引用

页码：339 / 345

页数：7

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