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Hybrid control of multi-agent systems under local temporal tasks and relative-distance constraints
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Electrical Engineering (EES), Automatic Control.
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 1701-1706 p.Conference paper (Refereed)Text
Abstract [en]

In this paper, we propose a distributed hybrid control strategy for multi-agent systems where each agent has a local task specified as a Linear Temporal Logic (LTL) formula and at the same time is subject to relative-distance constraints with its neighboring agents. The local tasks capture the temporal requirements on individual agents' behaviors, while the relative-distance constraints impose requirements on the collective motion of the whole team. The proposed solution relies only on relative-state measurements among the neighboring agents without the need for explicit information exchange. It is guaranteed that the local tasks given as syntactically co-safe or general LTL formulas are fulfilled and the relative-distance constraints are satisfied at all time. The approach is demonstrated with computer simulations.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2016. 1701-1706 p.
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:kth:diva-188260DOI: 10.1109/CDC.2015.7402455ScopusID: 2-s2.0-84962007662ISBN: 9781479978861OAI: diva2:937412
54th IEEE Conference on Decision and Control, CDC 2015, 15 December 2015 through 18 December 2015

QC 20160615

Available from: 2016-06-15 Created: 2016-06-09 Last updated: 2016-06-15Bibliographically approved

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