Related papers: Cooperative Planning for Coupled Multi-Agent Syste…
We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…
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…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
This paper presents a secure-by-construction planning and control framework for multi-agent systems subject to linear temporal logic (LTL) specifications. The framework protects sensitive information from a passive intruder with partial…
We propose a distributed control and coordination strategy for multi-agent systems where each agent has a local task specified as a Linear Temporal Logic (LTL) formula and at the same time is subject to relative-distance constraints with…
This paper investigates the controller synthesis problem for a multi-agent system (MAS) with intermittent communication. We adopt a relay-explorer scheme, where a mobile relay agent with absolute position sensors switches among a set of…
Designing tests to evaluate if a given autonomous system satisfies complex specifications is challenging due to the complexity of these systems. This work proposes a flow-based approach for reactive test synthesis from temporal logic…
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}…
We study the synthesis of policies for multi-agent systems to implement spatial-temporal tasks. We formalize the problem as a factored Markov decision process subject to so-called graph temporal logic specifications. The transition function…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into…
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…
We propose a new multi-agent task grammar to encode collaborative tasks for a team of heterogeneous agents that can have overlapping capabilities. The grammar allows users to specify the relationship between agents and parts of the task…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
Metric Temporal Logic can express temporally evolving properties with time-critical constraints or time-triggered constraints for real-time systems. This paper extends the Metric Interval Temporal Logic with a distribution eventuality…
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…
Correct-by-design synthesis provides a principled framework for establishing formal safety guarantees for stochastic multi-agent systems (MAS). However, conventional approaches based on finite abstractions often incur prohibitive…
Multi-agent systems can be extremely efficient when solving a team-wide task in a concurrent manner. However, without proper synchronization, the correctness of the combined behavior is hard to guarantee, such as to follow a specific…
Many automated planning methods and formulations rely on suitably designed abstractions or simplifications of the constrained dynamics associated with agents to attain computational scalability. We consider formulations of temporal planning…