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
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control
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
Externí odkaz:	http://arxiv.org/abs/2404.02111 Zobrazit plný text záznamu View this record from Arxiv