Motion Planning of Multi-Agent Systems under Temporal Logic Specifications
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
In this thesis, a top-down hierarchical framework is proposed to deal with multiagentsymbolic motion planning and control. Agents are assigned a distributable globalmission, and are partitioned into leaders and followers. The global mission is distributedamong the followers and each one synthesizes a discrete motion plan. By exploitingthe concept of network controllability, an open-loop optimal control law is synthesizedcentrally and executed in a distributed manner. This control law guarantees the concurrentexecution and fulfillment of the followers’ discrete motion plans. Simulations areperformed to verify the proposed control law both for single- and multi-leader, leaderfollowernetworks.
Place, publisher, year, edition, pages
2015. , 44 p.
EES Examensarbete / Master Thesis, TRITA XR-EE-RT 2015:004
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-177640OAI: oai:DiVA.org:kth-177640DiVA: diva2:873844