Multi-agent System Motion Planning under Temporal Logic Specifications and Control Barrier Function

被引：0

作者：

Huang, Xinyuan ^{[1
]}

Li, Li

Chen, Jie

机构：

[1] Tongji Univ, Coll Elect & Informat Engn, Shanghai 201804, Peoples R China

来源：

PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE | 2020年

关键词：

temporal logic; multi-agent system; formal methods; control barrier function; STABILIZATION;

D O I：

暂无

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 decentralization algorithm is proposed to decompose it into local tasks. Finally, we use control barrier function to synthesize the local controller for each agent under the LTL motion plan safety constraint. Simulation results prove the effectiveness and efficiency of our proposed method.

引用

页码：5032 / 5035

页数：4

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