期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 29, 期 2, 页码 858-865出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2019.2955628
关键词
Task analysis; Multi-agent systems; Mobile robots; Collision avoidance; Couplings; Feedback control; Autonomous mobile robots; decentralized robotic networks; formal methods-based control synthesis; linear temporal logic (LTL); signal temporal logic (STL)
资金
- Swedish Research Council (VR)
- European Research Council
- Swedish Foundation for Strategic Research
- EU H2020 Co4Robots Project
- Knut and Alice Wallenberg Foundation
This paper presents the implementation and experimental results of two frameworks for multi-agent systems under temporal logic tasks, where each agent is subject to either a local LTL or STL task and tasks may be coupled. The experimental results include three scenarios demonstrating a variety of tasks.
This brief presents the implementation and experimental results of two frameworks for multi-agent systems under temporal logic tasks, which we have recently proposed. Each agent is subject to either a local linear temporal logic (LTL) or a local signal temporal logic (STL) task where each task may further be coupled, i.e., the satisfaction of a task may depend on more than one agent. The agents are represented by mobile robots with different sensing and actuation capabilities. We propose to combine the two aforementioned frameworks to use the strengths of both LTL and STL. For the implementation, we take into account practical issues, such as collision avoidance, and, in particular, for the STL framework, input saturation, the digital implementation of continuous-time feedback control laws, and a controllability assumption that was made in the original work. The experimental results contain three scenarios that show a wide variety of tasks.
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