期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 61, 期 12, 页码 3948-3962出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2016.2527731
关键词
Agents and autonomous systems; cooperative control; hybrid systems; switched systems
资金
- EU STREP RECONFIG [FP7-ICT-2011-9-600825]
- Swedish Research Council (VR)
We propose a distributed control and coordination strategy for multi-agent systems where each agent has a local task specified as a Linear Temporal Logic (LTL) formula and at the same time is subject to relative-distance constraints with its neighboring agents. The local tasks capture the temporal requirements on individual agents' behaviors, while the relative-distance constraints impose requirements on the collective motion of the whole team. The proposed solution relies only on relative-state measurements among the neighboring agents without the need for explicit information exchange. It is guaranteed that the local tasks given as syntactically co-safe or general LTL formulas are fulfilled and the relative-distance constraints are satisfied at all time. The approach is demonstrated with computer simulations.
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