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A Receding Horizon Approach to Multi-Agent Planning from Local LTL Specifications
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4173-2593
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2014 (English)Conference paper, Published paper (Refereed)
Abstract [en]

We study the problem of control synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by themselves, requests for other agents' collaborations are a part of the task descriptions. Particularly, we consider that the task specification takes a form of a linear temporal logic formula, which may contain requirements and constraints on the other agent's behavior. A traditional automata-based approach to multi-agent strategy synthesis from such specifications builds on centralized planning for the whole team and thus suffers from extreme computational demands. In this work, we aim at reducing the computational complexity by decomposing the strategy synthesis problem into short horizon planning problems that are solved iteratively, upon the run of the agents. We discuss the correctness of the solution and find assumptions, under which the proposed iterative algorithm leads to provable eventual satisfaction of the desired specifications.

Place, publisher, year, edition, pages
2014. 1775-1780 p.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-162013DOI: 10.1109/ACC.2014.6859413ISI: 000346492602055Scopus ID: 2-s2.0-84905715749ISBN: 978-1-4799-3274-0 (print)OAI: oai:DiVA.org:kth-162013DiVA: diva2:798717
Conference
American Control Conference, DEC 04-06, 2014, Portland, OR
Note

QC 20150327. QC 20160207

Available from: 2015-03-27 Created: 2015-03-20 Last updated: 2016-02-07Bibliographically approved

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Tumova, JanaDimarogonas, Dimos V.

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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  • de-DE
  • en-GB
  • en-US
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  • nn-NO
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  • Other locale
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