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Multi-agent plan reconfiguration under local LTL specifications
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. 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 Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2015 (English)In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176, Vol. 34, no 2, 218-235 p.Article in journal (Refereed) Published
Abstract [en]

We propose a cooperative motion and task planning scheme for multi-agent systems where the agents have independently assigned local tasks, specified as linear temporal logic formulas. These tasks contain hard and soft sub-specifications. A least-violating initial plan is synthesized first for the potentially infeasible task and the partially-known workspace. This discrete plan is then implemented by the potential-field-based navigation controllers. While the system runs, each agent updates its knowledge about the workspace via its sensing capability and shares this knowledge with its neighbouring agents. Based on the knowledge update, each agent verifies and revises its motion plan in real time. It is ensured that the hard specification is always fulfilled for safety and the satisfaction for the soft specification is improved gradually. The design is distributed as only local interactions are assumed. The overall framework is demonstrated by a case study and an experiment.

Place, publisher, year, edition, pages
2015. Vol. 34, no 2, 218-235 p.
Keyword [en]
Autonomous agents, distributed robot systems, networked system, cognitive robotics, agent-based systems
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-161116DOI: 10.1177/0278364914546174ISI: 000349144800005Scopus ID: 2-s2.0-84921953956OAI: oai:DiVA.org:kth-161116DiVA: diva2:797129
Funder
Swedish Research CouncilEU, FP7, Seventh Framework Programme, RECONFIG: FP7-ICT-2011-9-600825
Note

QC 20150323

Available from: 2015-03-23 Created: 2015-03-09 Last updated: 2017-12-04Bibliographically approved

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Guo, MengDimarogonas, Dimos V.

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