Probabilistic Control of Heterogeneous Swarms Subject to Graph Temporal Logic Specifications: A Decentralized and Scalable Approach

• Published in: IEEE transactions on automatic control Vol. 68; no. 4; pp. 2245 - 2260
• Main Authors: Djeumou, Franck, Xu, Zhe, Cubuktepe, Murat, Topcu, Ufuk
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Aerospace electronics; Algorithms; Behavioral sciences; Control algorithms; Control theory; Decentralized control; Density distribution; Formal language; Heuristic algorithms; Integer programming; Linear programming; Markov analysis; Markov chains; Markov process; Markov processes; Mixed integer; Nodes; optimization methods; Probabilistic logic; Scalability; Specifications; swarm robotics; Synthesis; Task analysis; Temporal logic

We develop a probabilistic control algorithm, GTLProCo , for swarms of agents with heterogeneous dynamics and objectives, subject to high-level task specifications. The resulting algorithm not only achieves decentralized control of the swarm but also significantly improves scalability over state-of-...