Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems
It addresses the problem of synthesizing controllers for coupled multi-agent systems with temporal logic specifications, offering a decentralized solution that guarantees connectivity.
This paper proposes a fully automated controller synthesis for multi-agent systems with coupling constraints, where each agent must satisfy an MITL specification while maintaining connectivity. The method combines decentralized abstraction via robust optimal control with formal verification, and simulations in MATLAB demonstrate its effectiveness.
This paper presents a fully automated procedure for controller synthesis for a general class of 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). Furthermore, the connectivity of the initially connected agents, is required to be maintained. First, assuming a polyhedral partition of the workspace, a novel decentralized abstraction that provides controllers for each agent that guarantee the transition between different regions is designed. The controllers are the solution of a Robust Optimal Control Problem (ROCP) for each agent. Second, by utilizing techniques from formal verification, an algorithm that computes the individual runs which provably satisfy the high-level tasks is provided. Finally, simulation results conducted in MATLAB environment verify the performance of the proposed framework.