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Cooperative planning for coupled multi-agent systems under timed temporal specifications
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2017 (English)In: 2017 American Control Conference (ACC) 24-26 May 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1847-1852, article id 7963221Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent has 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 time and space discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal verification, we provide an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 1847-1852, article id 7963221
Series
Proceedings of the American Control Conference, ISSN 0743-1619
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-213062DOI: 10.23919/ACC.2017.7963221Scopus ID: 2-s2.0-85027066189ISBN: 9781509059928 OAI: oai:DiVA.org:kth-213062DiVA, id: diva2:1136708
Conference
2017 American Control Conference, ACC 2017, Sheraton Seattle HotelSeattle, United States, 24 May 2017 through 26 May 2017
Note

QC 20170829

Available from: 2017-08-29 Created: 2017-08-29 Last updated: 2017-12-13Bibliographically approved

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