Cooperative decentralized multi-agent control under local LTL tasks and connectivity constraints
2014 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2014, no February, 75-80 p.Conference paper (Refereed)
We propose a framework for the decentralized control of a team of agents that are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas. Each local LTL task specification captures both the requirements on the respective agent's behavior and the requests for the other agents' collaborations needed to accomplish the task. Furthermore, the agents are subject to communication constraints. The presented solution follows the automata-theoretic approach to LTL model checking, however, it avoids the computationally demanding construction of synchronized product system between the agents. A decentralized coordination scheme through a dynamic leader selection is proposed, to guarantee the low-level connectivity maintenance and a progress towards the satisfaction of each agent's task.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. no February, 75-80 p.
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-176151DOI: 10.1109/CDC.2014.7039362ScopusID: 2-s2.0-84931824748OAI: oai:DiVA.org:kth-176151DiVA: diva2:874996
2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, 15 December 2014 through 17 December 2014
QC 201511302015-11-302015-11-022015-11-30Bibliographically approved