Related papers: Communication-aware Motion Planning for Multi-agen…
Urban Air Mobility (UAM), or the scenario where multiple manned and Unmanned Aerial Vehicles (UAVs) carry out various tasks over urban airspaces, is a transportation concept of the future that is gaining prominence. UAM missions with…
This paper addresses decentralized control of large-scale heterogeneous multi-agent systems subject to bounded external disturbances and limited communication, with the objective of satisfying cooperative Signal Temporal Logic (STL)…
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…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
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…
We present Stratified Metric Temporal Logic (SMTL), a novel formalism for specifying and verifying properties of complex cyber-physical systems that exhibit behaviors across multiple temporal and abstraction scales. SMTL extends existing…
We study the problem of control synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
We propose a framework for the decentralized control of a team of agents that are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas. Each local LTL task specification captures both the requirements on the respective…
Multi-agent systems (MASs) consisting of a number of autonomous agents that communicate, coordinate, and jointly sense the environment to achieve complex missions can be found in a variety of applications such as robotics, smart cities, and…
In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a…
This article presents MAPS$^2$ : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either…
We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world…
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…
We propose a formal design framework for synthesizing coordination and control policies for cooperative multi-agent systems to accomplish a global mission. The global performance requirements are specified as regular languages while…
Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…
We introduce a metric that can quantify the temporal relaxation of Signal Temporal Logic (STL) specifications and facilitate resilient control synthesis in the face of infeasibilities. The proposed metric quantifies a cumulative notion of…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
We study stochastic multi-agent systems in which agents must cooperate to maximize the probability of achieving a common reach-avoid objective. In many applications, during the execution of the system, the communication between the agents…
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the…
Automatic synthesis from linear temporal logic (LTL) specifications is widely used in robotic motion planning, control of autonomous systems, and load distribution in power networks. A common specification pattern in such applications…