Risk-Aware Real-Time Task Allocation for Stochastic Multi-Agent Systems under STL Specifications
Autor: | Engelaar, Maico H. W., Zhang, Zengjie, Vlahakis, Eleftherios E., Dimarogonas, Dimos V., Lazar, Mircea, Haesaert, Sofie |
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Rok vydání: | 2024 |
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Druh dokumentu: | Working Paper |
Popis: | 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 sub-specifications on the individual agent level. To leverage the efficiency of task allocation, a heuristic filter evaluates potential task allocation based on STL robustness, and subsequently, an auctioning algorithm determines the definitive allocation of specifications. Finally, a control strategy is synthesized for each agent-specification pair using tube-based model predictive control (MPC), ensuring provable probabilistic satisfaction. We demonstrate the efficacy of the proposed methods using a multi-shuttle scenario that highlights a promising extension to automated driving applications like vehicle routing. Comment: 7 pages, 5 figures, Accepted for CDC 2024. arXiv admin note: text overlap with arXiv:2402.03165 |
Databáze: | arXiv |
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