Decomposition of multi-agent planning under distributed motion and task LTL specifications
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 7448-7453 p.Conference paper (Refereed)Text
The aim of this work is to introduce an efficient procedure for discrete multi-agent planning under local complex temporal logic behavior specifications. While the first part of an agent's behavior specification constraints the agent's trace and is independent, the second part of the specification expresses the agent's tasks in terms of the services to be provided along the trace and may impose requests for the other agents' collaborations. To fight the extreme computational complexity of centralized multi-agent planning, we propose a two-phase automata-based solution, where we systematically decouple the planning procedure for the two types of specifications. At first, we only consider the former specifications in a fully decentralized way and we compactly represent each agents' admissible traces by abstracting away the states that are insignificant for the satisfaction of their latter specifications. Second, the synchronized planning procedure uses only the compact representations. The satisfaction of the overall specification is guaranteed by construction for each agent.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2016. 7448-7453 p.
Collaboration, Europe, Planning, Robots, Silicon, Synchronization, Trajectory
IdentifiersURN: urn:nbn:se:kth:diva-188282DOI: 10.1109/CDC.2015.7403396ScopusID: 2-s2.0-84961989793ISBN: 9781479978861OAI: oai:DiVA.org:kth-188282DiVA: diva2:936800
54th IEEE Conference on Decision and Control, CDC 2015, 15 December 2015 through 18 December 2015
QC 201606142016-06-142016-06-092016-06-14Bibliographically approved