Decentralized Motion Planning for Multiagent Collaboration Under Coupled LTL Task Specifications
| Autor: | Yue Wei, Hao Fang, Tian Daiying, Qingkai Yang |
|---|---|
| Rok vydání: | 2022 |
| Předmět: |
Computational complexity theory
Computer science Node (networking) Multi-agent system Distributed computing Computer Science Applications Automaton Human-Computer Interaction Linear temporal logic Control and Systems Engineering Path (graph theory) Gossip protocol Motion planning Electrical and Electronic Engineering Software |
| Zdroj: | IEEE Transactions on Systems, Man, and Cybernetics: Systems. 52:3602-3611 |
| ISSN: | 2168-2232 2168-2216 |
| DOI: | 10.1109/tsmc.2021.3073105 |
| Popis: | This article proposes a decentralized collaboration scheme for the motion planning of multiagent systems under coupled linear temporal logic task specifications. In order to alleviate the massive computational complexity in centralized methods, coupled edges are introduced to decouple the product automata, and then the path of each agent is synthesized according to local messages. Furthermore, in order to achieve the real-time message exchange, the tableau and gossip protocol are employed during online communication, resulting in a distributed collaboration scheme. Finally, based on the resultant decoupled product automata, a united agent model is designed to deal with partial node failures, yielding a more robust collaboration scheme. Simulations are conducted to demonstrate the effectiveness and superiority of the proposed methods. |
| Databáze: | OpenAIRE |
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