اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدDistributed Communication-aware Motion Planning for Multi-agent Systems from STL and SpaTeL Specifications
102
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
In future intelligent transportation systems, networked vehicles coordinate with each other to achieve safe operations based on an assumption that communications among vehicles and infrastructure are reliable. Traditional methods usually deal with the design of control systems and communication networks in a separated manner. However, control and communication systems are tightly coupled as the motions of vehicles will affect the overall communication quality. Hence, we are motivated to study the co-design of both control and communication systems. In particular, we propose a control theoretical framework for distributed motion planning for multi-agent systems which satisfies complex and high-level spatial and temporal specifications while accounting for communication quality at the same time. Towards this end, desired motion specifications and communication performances are formulated as signal temporal logic (STL) and spatial-temporal logic (SpaTeL) formulas, respectively. The specifications are encoded as constraints on system and environment state variables of mixed integer linear programs (MILP), and upon which control strategies satisfying both STL and SpaTeL specifications are generated for each agent by employing a distributed model predictive control (MPC) framework. Effectiveness of the proposed framework is validated by a simulation of distributed communication-aware motion planning for multi-agent systems.
قيم البحث
اقرأ أيضاً
We propose a mathematical framework for synthesizing motion plans for multi-agent systems that fulfill complex, high-level and formal local specifications in the presence of inter-agent communication. The proposed synthesis framework consists of desi
red motion specifications in temporal logic (STL) formulas and a local motion controller that ensures the underlying agent not only to accomplish the local specifications but also to avoid collisions with other agents or possible obstacles, while maintaining an optimized communication quality of service (QoS) among the agents. Utilizing a Gaussian fading model for wireless communication channels, the framework synthesizes the desired motion controller by solving a joint optimization problem on motion planning and wireless communication, in which both the STL specifications and the wireless communication conditions are encoded as mixed integer-linear constraints on the variables of the agents dynamical states and communication channel status. The overall framework is demonstrated by a case study of communication-aware multi-robot motion planning and the effectiveness of the framework is validated by simulation results.
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication among the rob
ots will in turn affect their coordination performance. In this paper, we propose a control theoretical motion planning framework for a team of networked mobile robots in order to accomplish high-level spatial and temporal motion objectives while optimizing communication QoS. Desired motion specifications are formulated as Signal Temporal Logic (STL), whereas the communication performances to be optimized are captured by recently proposed Spatial Temporal Reach and Escape Logic (STREL) formulas. Both the STL and STREL specifications are encoded as mixed integer linear constraints posed on the system and/or environment state variables of the mobile robot network, where satisfactory control strategies can be computed by exploiting a distributed model predictive control (MPC) approach. To the best of the authors knowledge, we are the first to study controller synthesis for STREL specifications. A two-layer hierarchical MPC procedure is proposed to efficiently solve the problem, whose soundness and completeness are formally ensured. The effectiveness of the proposed framework is validated by simulation examples.
We present Distributed Simplex Architecture (DSA), a new runtime assurance technique that provides safety guarantees for multi-agent systems (MASs). DSA is inspired by the Simplex control architecture of Sha et al., but with some significant differen
ces. The traditional Simplex approach is limited to single-agent systems or a MAS with a centralized control scheme. DSA addresses this limitation by extending the scope of Simplex to include MASs under distributed control. In DSA, each agent has a local instance of traditional Simplex such that the preservation of safety in the local instances implies safety for the entire MAS. We provide a proof of safety for DSA, and present experimental results for several case studies, including flocking with collision avoidance, safe navigation of ground rovers through way-points, and the safe operation of a microgrid.
In most multiagent applications, communication is essential among agents to coordinate their actions, and thus achieve their goal. However, communication often has a related cost that affects overall system performance. In this paper, we draw inspira
tion from studies of epistemic planning to develop a communication model for agents that allows them to cooperate and make communication decisions effectively within a planning task. The proposed model treats a communication process as an action that modifies the epistemic state of the team. In two simulated tasks, we evaluate whether agents can cooperate effectively and achieve higher performance using communication protocol modeled in our epistemic planning framework. Based on an empirical study conducted using search and rescue tasks with different scenarios, our results show that the proposed model improved team performance across all scenarios compared with baseline models.
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is subject t
o both state and input constraints and can have only local view and local information, a fully distributed multi-robot motion coordination strategy is proposed. For each robot, the motion coordination strategy consists of three layers. An offline layer pre-computes the braking area for each region in the workspace, the controlled transition system, and a so-called potential function. An initialization layer outputs an initially safely satisfying trajectory. An online coordination layer resolves conflicts when one occurs. The online coordination layer is further decomposed into three steps. Firstly, a conflict detection algorithm is implemented, which detects conflicts with neighboring robots. Whenever conflicts are detected, a rule is designed to assign dynamically a planning order to each pair of neighboring robots. Finally, a sampling-based algorithm is designed to generate local collision-free trajectories for the robot which at the same time guarantees the feasibility of the specification. Safety is proven to be guaranteed for all robots at any time. The effectiveness and the computational tractability of the resulting solution is verified numerically by two case studies.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
