Probabilistic Control of Heterogeneous Swarms Subject to Graph Temporal Logic Specifications: A Decentralized and Scalable Approach

We develop a probabilistic control algorithm, GTLProCo , for swarms of agents with heterogeneous dynamics and objectives, subject to high-level task specifications. The resulting algorithm not only achieves decentralized control of the swarm but also significantly improves scalability over state-of-...

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Bibliographic Details
Published in:	IEEE transactions on automatic control Vol. 68; no. 4; pp. 2245 - 2260
Main Authors:	Djeumou, Franck, Xu, Zhe, Cubuktepe, Murat, Topcu, Ufuk
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.04.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Aerospace electronics Algorithms Behavioral sciences Control algorithms Control theory Decentralized control Density distribution Formal language Heuristic algorithms Integer programming Linear programming Markov analysis Markov chains Markov process Markov processes Mixed integer Nodes optimization methods Probabilistic logic Scalability Specifications swarm robotics Synthesis Task analysis Temporal logic
ISSN:	0018-9286, 1558-2523
Online Access:	Get full text
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