Decentralized multi-agent control from local LTL specifications
2012 (English)In: Decision and Control (CDC), 2012 IEEE 51st Annual Conference on, IEEE , 2012, 6235-6240 p.Conference paper (Refereed)
We propose a methodology for decentralized multi-agent control from Linear Temporal Logic (LTL) specifications. Each agent receives an independent specification to formally synthesize its own hybrid controller. Mutual satisfiability is not a priori guaranteed. Due to limited communication, the agents utilize meeting events to exchange their controller automata and verify satisfiability through model checking. Local interaction only when common atomic propositions exist reduces the overall computational cost, facilitating scalability. Provably correct collision avoidance and convergence is ensured by Decentralized Multi-Agent Navigation Functions.
Place, publisher, year, edition, pages
IEEE , 2012. 6235-6240 p.
, Proceedings of the IEEE Conference on Decision and Control, ISSN 0191-2216
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-119186DOI: 10.1109/CDC.2012.6426027ScopusID: 2-s2.0-84874262604OAI: oai:DiVA.org:kth-119186DiVA: diva2:610312
51st IEEE Conference on Decision and Control, CDC 2012, 10 December 2012 through 13 December 2012, Maui, HI
QC 201303112013-03-112013-03-082013-03-11Bibliographically approved