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Communication-Free Multi-Agent Control Under Local Temporal Tasks and Relative-Distance Constraints
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4562-854X
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4173-2593
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2016 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 61, no 12, p. 3948-3962Article in journal (Refereed) Published
Abstract [en]

We propose a distributed control and coordination strategy for multi-agent systems where each agent has a local task specified as a Linear Temporal Logic (LTL) formula and at the same time is subject to relative-distance constraints with its neighboring agents. The local tasks capture the temporal requirements on individual agents' behaviors, while the relative-distance constraints impose requirements on the collective motion of the whole team. The proposed solution relies only on relative-state measurements among the neighboring agents without the need for explicit information exchange. It is guaranteed that the local tasks given as syntactically co-safe or general LTL formulas are fulfilled and the relative-distance constraints are satisfied at all time. The approach is demonstrated with computer simulations.

Place, publisher, year, edition, pages
IEEE, 2016. Vol. 61, no 12, p. 3948-3962
Keywords [en]
Agents and autonomous systems, cooperative control, hybrid systems, switched systems
National Category
Control Engineering Robotics
Identifiers
URN: urn:nbn:se:kth:diva-199499DOI: 10.1109/TAC.2016.2527731ISI: 000389891100018Scopus ID: 2-s2.0-85004115747OAI: oai:DiVA.org:kth-199499DiVA, id: diva2:1066478
Note

QC 20170118

Available from: 2017-01-18 Created: 2017-01-09 Last updated: 2017-11-29Bibliographically approved

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Guo, MengTumova, JanaDimarogonas, Dimos V.

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