Planning of Heterogeneous Multi-Agent Systems Under Signal Temporal Logic Specifications With Integral Predicates

We address the problem of coordinating the trajectories of heterogeneous multi-agent systems under spatio-temporal specifications. In particular, we consider global Signal Temporal Logic (STL) constraints to express the number and type of agents that should be present at specific locations within th...

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Vydáno v:IEEE robotics and automation letters Ročník 6; číslo 2; s. 1375 - 1382
Hlavní autoři: Buyukkocak, Ali Tevfik, Aksaray, Derya, Yazcoglu, Yasin
Médium: Journal Article
Jazyk:angličtina
Vydáno: Piscataway IEEE 01.04.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Aerodynamics
Formal methods in robotics and automation
Integrals
Mixed integer
Multi-agent systems
multi-robot systems
Multiagent systems
optimization and optimal control
Planning
Robot kinematics
Robustness
Specifications
Task analysis
Temporal logic
Trajectory
Trajectory optimization
Windows (intervals)
ISSN:2377-3766, 2377-3766
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Shrnutí:We address the problem of coordinating the trajectories of heterogeneous multi-agent systems under spatio-temporal specifications. In particular, we consider global Signal Temporal Logic (STL) constraints to express the number and type of agents that should be present at specific locations within the desired time windows. We also introduce an integral predicate to specify cumulative progress that can be achieved asynchronously by multiple agents. In order to generate optimal trajectories, we formulate a mixed-integer linear program whose objective is minimizing the agent movement subject to the heterogeneous abstracted dynamics of the agents and a global STL specification including the novel integral predicate. We demonstrate the performance of the proposed method via simulations and experiments with drones.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2021.3057049