On the timed temporal logic planning of coupled multi-agent systems. (November 2018)

• Record Type: Journal Article
• Authors: Nikou, Alexandros; Boskos, Dimitris; Tumova, Jana; Dimarogonas, Dimos V.
• Is Part Of: Automatica. Volume 97(2018)
• Page Start: 339
• Page End: 345
• Publication Date: 2018-11
• Subjects: Multi-agent systems -- Cooperative control -- Hybrid systems -- Formal verification -- Timed logics -- Abstractions -- Discrete event systems; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2018.08.023
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the other one is an additional bounded control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal Logic (MITL). First, a decentralized abstraction that provides a space and time discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal verification, we propose an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example conducted in MATLAB environment.