Change search
ReferencesLink to record
Permanent link

Direct link
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.
KTH, School of Electrical Engineering (EES), Automatic Control.
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 7448-7453 p.Conference paper (Refereed)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.2015.7403396ScopusID: 2-s2.0-84961989793ISBN: 9781479978861OAI: 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: 2016-06-14Bibliographically approved

Open Access in DiVA

No full text

Other links

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

Search in DiVA

By author/editor
Tumova, JanaDimarogonas, Dino V.
By organisation
Computer Vision and Active Perception, CVAPACCESS Linnaeus CentreAutomatic Control
Computer Science

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 4 hits
ReferencesLink to record
Permanent link

Direct link