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Cooperative Planning for Coupled Multi-Agent Systems under Timed Temporal Specifications
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH Royal Inst Technol, Sch Elect Engn, ACCESS Linnaeus Ctr, SE-10044 Stockholm, Sweden.;KTH Ctr Autonomous Syst, Stockholm, Sweden..ORCID iD: 0000-0002-8696-1536
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH Royal Inst Technol, Sch Elect Engn, ACCESS Linnaeus Ctr, SE-10044 Stockholm, Sweden.;KTH Ctr Autonomous Syst, Stockholm, Sweden..
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH Royal Inst Technol, Sch Elect Engn, ACCESS Linnaeus Ctr, SE-10044 Stockholm, Sweden.;KTH Ctr Autonomous Syst, Stockholm, Sweden..ORCID iD: 0000-0003-4173-2593
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH Royal Inst Technol, Sch Elect Engn, ACCESS Linnaeus Ctr, SE-10044 Stockholm, Sweden.;KTH Ctr Autonomous Syst, Stockholm, Sweden..ORCID iD: 0000-0001-7309-8086
2017 (English)In: 2017 AMERICAN CONTROL CONFERENCE (ACC), IEEE , 2017, p. 1847-1852Conference 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
IEEE , 2017. p. 1847-1852
Series
Proceedings of the American Control Conference, ISSN 0743-1619
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-225792ISI: 000427033301145ISBN: 978-1-5090-5992-8 OAI: oai:DiVA.org:kth-225792DiVA, id: diva2:1196422
Conference
American Control Conference (ACC), MAY 24-26, 2017, Seattle, WA
Funder
Knut and Alice Wallenberg FoundationSwedish Research Council
Note

QC 20180410

Available from: 2018-04-10 Created: 2018-04-10 Last updated: 2018-04-10Bibliographically approved

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Nikou, AlexandrosTumova, JanaDimarogonas, Dimos V.

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