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Decomposition of multi-agent planning under distributed motion and task LTL specifications
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4173-2593
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 7448-7453 p.Conference paper, Published paper (Refereed)
Resource type
Text
Abstract [en]

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.
Keyword [en]
Collaboration, Europe, Planning, Robots, Silicon, Synchronization, Trajectory
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-188282DOI: 10.1109/CDC.2015.7403396ISI: 000381554507106Scopus ID: 2-s2.0-84961989793ISBN: 9781479978861 (print)OAI: oai:DiVA.org:kth-188282DiVA: diva2:936800
Conference
54th IEEE Conference on Decision and Control, CDC 2015, 15 December 2015 through 18 December 2015
Note

QC 20160614

Available from: 2016-06-14 Created: 2016-06-09 Last updated: 2016-12-20Bibliographically approved

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Publisher's full textScopushttp://cdc2015.ieeecss.org/

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • text
  • asciidoc
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