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Probabilistic Tube-based Control Synthesis of Stochastic Multi-Agent Systems under Signal Temporal Logic
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-7039-5314
University of Southern California, Viterbi School of Engineering, Department of Computer Science, Los Angeles, CA, USA, 90089.
Queen's University, School of Electronics, Electrical Engineering and Computer Science, Belfast, Northern Ireland, UK, Northern Ireland.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2024 (English)In: 2024 IEEE 63rd Conference on Decision and Control, CDC 2024, Institute of Electrical and Electronics Engineers (IEEE) , 2024, p. 1586-1592Conference paper, Published paper (Refereed)
Abstract [en]

We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefined probability. By decomposing the dynamics into deterministic and error components, we construct a probabilistic reachable tube (PRT) as the Cartesian product of reachable sets of the individual error systems driven by disturbances lying in confidence regions (CRs) with a fixed probability. By bounding the PRT probability with the specification probability, we tighten all state constraints induced by the STL specification by solving tractable optimization problems over segments of the PRT, and relax the underlying stochastic problem with a deterministic one. This approach reduces conservatism compared to tightening guided by the STL structure. Additionally, we propose a recursively feasible algorithm to attack the resulting problem by decomposing it into agent-level subproblems, which are solved iteratively according to a scheduling policy. We demonstrate our method on a ten-agent system, where existing approaches are impractical.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2024. p. 1586-1592
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-361730DOI: 10.1109/CDC56724.2024.10886279ISI: 001445827201056Scopus ID: 2-s2.0-86000569826OAI: oai:DiVA.org:kth-361730DiVA, id: diva2:1947997
Conference
63rd IEEE Conference on Decision and Control, CDC 2024, Milan, Italy, Dec 16 2024 - Dec 19 2024
Note

Part of ISBN 9798350316339

QC 20250401

Available from: 2025-03-27 Created: 2025-03-27 Last updated: 2025-12-05Bibliographically approved

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Vlahakis, EleftheriosDimarogonas, Dimos V.

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