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Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH Royal Inst Technol, Sch Elect Engn & Comp Sci, Dept Automat Control, S-10044 Stockholm, Sweden..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2019 (English)In: Proceedings 2019 18th European Control Conference (ECC), IEEE , 2019, p. 89-94Conference paper, Published paper (Refereed)
Abstract [en]

We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the control synthesis problem for single-agent systems under signal temporal logic tasks are, however, subject to a high computational complexity. Methods for multi-agent systems scale at least linearly with the number of agents and induce even higher computational burdens. We propose a computationally-efficient control strategy to solve the multi-agent control synthesis problem that results in a robust satisfaction of a set of signal temporal logic tasks. In particular, a decentralized feedback control law is proposed that is based on time-varying control barrier functions. The obtained control law is discontinuous and formal guarantees are provided by nonsmooth analysis. Simulations show the efficacy of the presented method.

Place, publisher, year, edition, pages
IEEE , 2019. p. 89-94
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-263382DOI: 10.23919/ECC.2019.8796109ISI: 000490488300014Scopus ID: 2-s2.0-85067184602OAI: oai:DiVA.org:kth-263382DiVA, id: diva2:1370496
Conference
18th European Control Conference (ECC), Naples, ITALY, JUN 25-28, 2019
Note

QC 20191115

Available from: 2019-11-15 Created: 2019-11-15 Last updated: 2019-11-15Bibliographically approved

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Lindemann, LarsDimarogonas, Dimos V.

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