Open AccessTemporal Logic Control Synthesis for Distributed Multi-Agent Cooperative Tasking
Author(s) -
Ning Xu,
Ting Peng,
Dawei Liu,
Jie Li
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2216/1/012061
Subject(s) - scheme (mathematics) , synchronization (alternating current) , computer science , controller (irrigation) , control (management) , distributed computing , control engineering , control theory (sociology) , artificial intelligence , mathematics , engineering , computer network , mathematical analysis , channel (broadcasting) , agronomy , biology
In this work, we present a novel control synthesis method for cooperative multi-agent systems to fulfill a global mission given as linear temporal logic on finite traces (LTLf). The proposed method first synthesizes satisfiable global controllers for uncontrolled system, such that the global specification is met; and then, searches for a decomposable global controller among them over a maximum synchronization scheme; finally, further refining the synchronization scheme to obtain decomposed distributed controllers. To search for a decomposable global controller among the satisfiable ones, we present an informed searching algorithm based on the decomposability analysis of global controllers. A multi-UAV cooperative fire surveillance scenario is developed to illustrate the method.