Related papers: Cooperative Task Planning of Multi-Agent Systems U…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents' a-priori unknown behavior. Existing works have considered the problem where either all agents are…
In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…
This paper presents control strategies based on time-varying convergent higher order control barrier functions for a class of leader-follower multi-agent systems under signal temporal logic (STL) tasks. Each agent is assigned a local STL…
We study the distributed synthesis of policies for multi-agent systems to perform \emph{spatial-temporal} tasks. We formalize the synthesis problem as a \emph{factored} Markov decision process subject to \emph{graph temporal logic}…
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional…
We consider the problem of controlling a heterogeneous multi-agent system required to satisfy temporal logic requirements. Capability Temporal Logic (CaTL) was recently proposed to formalize such specifications for deploying a team of…
Effective human-human and human-autonomy teamwork is critical but often challenging to perfect. The challenge is particularly relevant in time-critical domains, such as healthcare and disaster response, where the time pressures can make…
It is an amazing fact that remarkably complex behaviors could emerge from a large collection of very rudimentary dynamical agents through very simple local interactions. However, it still remains elusive on how to design these local…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
Motivated by the recent interest in formal methods-based control of multi-agent systems, we adopt a bottom-up approach. Each agent is subject to a local signal temporal logic task that may depend on other agents behavior. These dependencies…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
Multi-agent systems outperform single agent in complex collaborative tasks. However, in large-scale scenarios, ensuring timely information exchange during decentralized task execution remains a challenge. This work presents an online…
Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…
In this paper, we model an operational planning and scheduling problem under multiple job deadlines in a time-weighted automaton framework. We first present a method to determine whether all given job specifications and deadlines can be met…
We consider the synthesis of control policies from temporal logic specifications for robots that interact with multiple dynamic environment agents. Each environment agent is modeled by a Markov chain whereas the robot is modeled by a finite…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
In multi-agent systems, signal temporal logic (STL) is widely used for path planning to accomplish complex objectives with formal safety guarantees. However, as the number of agents increases, existing approaches encounter significant…
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a…