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Hybrid Control of Multiagent Systems With Contingent Temporal Tasks and Prescribed Formation Constraints
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
2017 (English)In: IEEE Transactions on Big Data, ISSN 2325-5870, E-ISSN 2168-6750, Vol. 4, no 4, p. 781-792Article in journal (Refereed) Published
Abstract [en]

In this paper, we present a distributed hybrid control strategy for multiagent systems with contingent temporal tasks and prescribed formation constraints. Each agent is assigned a local task given as a linear temporal logic formula. In addition, two commonly seen kinds of cooperative robotic tasks, namely, service and formation, are requested and exchanged among the agents in real time. The service request is a short-term task provided by one agent to another. On the other hand, the formation request is a relative deployment requirement with predefined transient response imposed by an associated performance function. The proposed hybrid control strategy consists of four major components: 1) the contingent requests handlingmodule; 2) the real-time events monitoring module; 3) the local discrete plan synthesis module; and 4) the continuous control switching module, and it is shown that all local tasks and contingent service/formation requests are fulfilled. Finally, a simulated paradigm demonstrates the proposed control strategy.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2017. Vol. 4, no 4, p. 781-792
Keywords [en]
Formal synthesis, hybrid control, multiagent system
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:kth:diva-220839DOI: 10.1109/TCNS.2016.2555581ISI: 000418575400010OAI: oai:DiVA.org:kth-220839DiVA, id: diva2:1172982
Note

QC 20180111

Available from: 2018-01-11 Created: 2018-01-11 Last updated: 2018-01-15Bibliographically approved

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Dimarogonas, Dimos V.

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