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Multi-agent system motion planning under temporal logic specifications and control barrier function
XinyuanHUANG,LiLI,JieCHEN
0
(College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China; Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai 201210, China)
摘要:
In this paper, we provide a novel scheme to solve the motion planning problem of multi-agent systems under high-level task specifications. First, linear temporal logic is applied to express the global task specification. Then an efficient and decentralized algorithm is proposed to decompose it into local tasks. Moreover, we use control barrier function to synthesize the local controller for each agent under the linear temporal logic motion plan with safety constraint. Finally, simulation results show the effectiveness and efficiency of our proposed scheme.
关键词:  Temporal logic, multi-agent system, formal methods, control barrier function
DOI:https://doi.org/10.1007/s11768-020-0110-6
基金项目:This work was partially supported by the National Natural Science Foundation of China (No. 51475334), the National Key Research and Development Program of Science and Technology of China (No.2018YFB1305304) and the Shanghai Science and Technology Pilot Project (No. 19511132100).
Multi-agent system motion planning under temporal logic specifications and control barrier function
Xinyuan HUANG,Li LI,Jie CHEN
(College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China; Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai 201210, China)
Abstract:
In this paper, we provide a novel scheme to solve the motion planning problem of multi-agent systems under high-level task specifications. First, linear temporal logic is applied to express the global task specification. Then an efficient and decentralized algorithm is proposed to decompose it into local tasks. Moreover, we use control barrier function to synthesize the local controller for each agent under the linear temporal logic motion plan with safety constraint. Finally, simulation results show the effectiveness and efficiency of our proposed scheme.
Key words:  Temporal logic, multi-agent system, formal methods, control barrier function