Communication-Free Multi-Agent Control Under Local Temporal Tasks and Relative-Distance Constraints

DOI10.1109/TAC.2016.2527731zbMATH Open1359.93314arXiv1410.8673OpenAlexW2963193519MaRDI QIDQ2979342FDOQ2979342

Authors: Meng Guo, Jana Tůmová, Dimos V. Dimarogonas 

Publication date: 3 May 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: We propose a distributed control and coordination 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.

Full work available at URL: https://arxiv.org/abs/1410.8673

Mathematics Subject Classification ID

Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85) Network design and communication in computer systems (68M10)

Cited In (4)

• Decentralized route-planning for multi-vehicle teams to satisfy a subclass of linear temporal logic specifications
• Scalable distributed algorithms for multi-robot near-optimal motion planning
• Temporal logic guided safe model-based reinforcement learning: a hybrid systems approach
• Adaptive robot navigation with collision avoidance subject to \(2\)nd-order uncertain dynamics

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