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Probabilistic Plan Synthesis for Coupled Multi-Agent Systems
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: 0000-0002-8696-1536
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.ORCID iD: 0000-0003-4173-2593
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: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 10766-10771Article in journal (Refereed) Published
Abstract [en]

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under the presence of uncertainties. We model the motion of each of the N agents in the environment as a Markov Decision Process (MDP) and we assign to each agent one individual high-level formula given in Probabilistic Computational Tree Logic (PCTL). Each agent may need to collaborate with other agents in order to achieve a task. The collaboration is imposed by sharing actions between the agents. We aim to design local control policies such that each agent satisfies its individual PCTL formula. The proposed algorithm builds on clustering the agents, MDP products construction and controller policies design. We show that our approach has better computational complexity than the centralized case, which traditionally suffers from very high computational demands.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 50, no 1, p. 10766-10771
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-223073DOI: 10.1016/j.ifacol.2017.08.2280ISI: 000423965100285Scopus ID: 2-s2.0-85031771017OAI: oai:DiVA.org:kth-223073DiVA, id: diva2:1182961
Note

QC 20180215

Available from: 2018-02-15 Created: 2018-02-15 Last updated: 2018-03-05Bibliographically approved

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Nikou, AlexandrosTumova, JanaDimarogonas, Dimos V.

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Automatic ControlACCESS Linnaeus CentreCentre for Autonomous Systems, CASRobotics, perception and learning, RPL
Control Engineering

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  • apa
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Output format
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