Online Abstractions for Interconnected Multi-Agent Control Systems*. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Boskos, Dimitris; Dimarogonas, Dimos V.
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 15810
• Page End: 15815
• Publication Date: 2017-07
• Subjects: Reachability analysis -- verification -- abstraction of hybrid systems -- Multi-agent systems -- Decentralized control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.2322
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, we aim at the development of an online abstraction framework for multi-agent systems under coupled constraints. The motion capabilities of each agent are abstracted through a finite state transition system in order to capture reachability properties of the coupled multi-agent system over a finite time horizon in a decentralized manner. In the first part of this work, we define online abstractions by discretizing an over approximation of the agents' reachable sets over the horizon. Then, sufficient conditions relating the discretization and the agents' dynamics are provided, in order to quantify the agents' transition possibilities.