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Reconfiguration in motion planning of single- And multi-agent systems under infeasible local LTL specifications
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4562-854X
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2013 (English)In: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2013, 2758-2763 p.Conference paper, Published paper (Refereed)
Abstract [en]

A reconfiguration method for the model-checkingbased motion planning of single- And multi-agent systems under infeasible local LTL specifications is proposed. The method describes how to synthesize the motion plan that fulfills the infeasible task specification the most, and how the infeasible task specification is relaxed. The novelty is the introduction of a metric within the atomic proposition domain, and the relative weighting between the implementation cost of a motion plan and its distance to the original specification. For multiagent systems, a dependency relation and relative priorities are incorporated when the tasks are assigned independently to each agent. Simulations are presented to illustrate the method.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 2758-2763 p.
Series
IEEE Conference on Decision and Control. Proceedings, ISSN 0743-1546
Keyword [en]
Motion planning, Multi agent systems, Atomic propositions, Dependency relation, Implementation cost, Relative priorities, Task specifications, Specifications
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-150855DOI: 10.1109/CDC.2013.6760300ISI: 000352223503031Scopus ID: 2-s2.0-84902330269ISBN: 978-1-4673-5714-2 (print)OAI: oai:DiVA.org:kth-150855DiVA: diva2:745898
Conference
52nd IEEE Conference on Decision and Control, CDC 2013, 10 December 2013 through 13 December 2013, Florence, Italy
Note

QC 20140911

Available from: 2014-09-11 Created: 2014-09-11 Last updated: 2015-12-08Bibliographically approved

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Guo, MengDimarogonas, Dimos V.

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CiteExportLink to record
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  • apa
  • harvard1
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