Hybrid control of multi-agent systems under local temporal tasks and relative-distance constraints
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 1701-1706 p.Conference paper (Refereed)Text
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.
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-188260DOI: 10.1109/CDC.2015.7402455ScopusID: 2-s2.0-84962007662ISBN: 9781479978861OAI: oai:DiVA.org:kth-188260DiVA: diva2:937412
54th IEEE Conference on Decision and Control, CDC 2015, 15 December 2015 through 18 December 2015
QC 201606152016-06-152016-06-092016-06-15Bibliographically approved