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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Vydané v:	IEEE robotics and automation letters Ročník 6; číslo 2; s. 1375 - 1382
Hlavní autori:	Buyukkocak, Ali Tevfik, Aksaray, Derya, Yazcoglu, Yasin
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Piscataway IEEE 01.04.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	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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Abstract	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.
AbstractList	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.
Author	Buyukkocak, Ali Tevfik Aksaray, Derya Yazcoglu, Yasin
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SubjectTerms	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)
Title	Planning of Heterogeneous Multi-Agent Systems Under Signal Temporal Logic Specifications With Integral Predicates
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