Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks

• Main Authors: Lindemann, Lars, Dimarogonas, Dimos V
• Format: Journal Article
• Language: English
• Published: 25.11.2020
• Subjects: Computer Science - Systems and Control
• DOI: 10.48550/arxiv.2011.12775

We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the control synthesis problem for single-agent systems under signal temporal logic tasks are, however, subject to a high computational complexity. Methods for multi-agent systems scale at least linearly with the number of agents and induce even higher computational burdens. We propose a computationally-efficient control strategy to solve the multi-agent control synthesis problem that results in a robust satisfaction of a set of signal temporal logic tasks. In particular, a decentralized feedback control law is proposed that is based on time-varying control barrier functions. The obtained control law is discontinuous and formal guarantees are provided by nonsmooth analysis. Simulations show the efficacy of the presented method.