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Task and Motion Coordination for Heterogeneous Multiagent Systems With Loosely Coupled Local Tasks
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: 0000-0003-4562-854X
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), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
2017 (English)In: IEEE Transactions on Automation Science and Engineering, ISSN 1545-5955, E-ISSN 1558-3783, Vol. 14, no 2, 797-808 p.Article in journal (Refereed) Published
Abstract [en]

We consider a multiagent system that consists of heterogeneous groups of homogeneous agents. Instead of defining a global task for the whole team, each agent is assigned a local task as syntactically cosafe linear temporal logic formulas that specify both motion and action requirements. Interagent dependence is introduced by collaborative actions, of which the execution requires multiple agents' collaboration. To ensure the satisfaction of all local tasks without central coordination, we propose a bottom-up motion and task coordination strategy that contains an off-line initial plan synthesis and an online coordination scheme based on real-time exchange of request and reply messages. It facilitates not only the collaboration among heterogeneous agents but also the task swapping between homogeneous agents to reduce the total execution cost. It is distributed as any decision is made locally by each agent based on local computation and communication within neighboring agents. It is scalable and resilient to agent failures as the dependence is formed and removed dynamically based on agent capabilities and their plan execution status, instead of preassigned agent identities. The overall scheme is demonstrated by a simulated scenario of 20 agents with loosely coupled local tasks.

Place, publisher, year, edition, pages
IEEE, 2017. Vol. 14, no 2, 797-808 p.
Keyword [en]
Formal methods, linear temporal logics (LTLs), motion and task coordination, multiagent system
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-208266DOI: 10.1109/TASE.2016.2628389ISI: 000399347500035Scopus ID: 2-s2.0-85003674352OAI: oai:DiVA.org:kth-208266DiVA: diva2:1109646
Funder
Swedish Research CouncilEU, FP7, Seventh Framework Programme, RECONFIGFP7-ICT-2011-9-600825
Note

the Swedish Research Council (VR)

H2020 ERC Starting Grant BUCOPHSYS

EU STREP RECONFIG: FP7-ICT-2011-9-600825.

QC 20170614

Available from: 2017-06-14 Created: 2017-06-14 Last updated: 2017-11-02Bibliographically approved

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Guo, MengDimarogonas, Dimos V.

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