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

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 r...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 61; no. 12; pp. 3948 - 3962
Main Authors Meng Guo, Tumova, Jana, Dimarogonas, Dimos V.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.12.2016
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Agents and autonomous systems
Automata
Collaboration
Control systems
cooperative control
hybrid systems
Multi-agent systems
Multiagent systems
Robot kinematics
switched systems
Synchronization
Temporal logic
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Summary: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.
ISSN:0018-9286
1558-2523
1558-2523
DOI:10.1109/TAC.2016.2527731