Distributed Sequential Receding Horizon Control of Multi-Agent Systems under Recurring Signal Temporal Logic
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2023
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| _version_ | 1866929328238886912 |
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| author | Vlahakis, Eleftherios E. Lindemann, Lars Dimarogonas, Dimos V. |
| author_facet | Vlahakis, Eleftherios E. Lindemann, Lars Dimarogonas, Dimos V. |
| contents | We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches to handling recurring STL systematically, we tackle the infinite-horizon control problem with a receding horizon scheme equipped with additional STL constraints that introduce minimal complexity and a backward-reachability-based terminal condition that is straightforward to construct and ensures recursive feasibility. Subsequently, we decompose the global receding horizon optimization problem into agent-level programs the objectives of which are to minimize local cost functions subject to local and joint STL constraints. We propose a scheduling policy that allows individual agents to sequentially optimize their control actions while maintaining recursive feasibility. This results in a distributed strategy that can operate online as a model predictive controller. Last, we illustrate the effectiveness of our method via a multi-agent system example assigned a surveillance task. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2311_06890 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Distributed Sequential Receding Horizon Control of Multi-Agent Systems under Recurring Signal Temporal Logic Vlahakis, Eleftherios E. Lindemann, Lars Dimarogonas, Dimos V. Systems and Control We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches to handling recurring STL systematically, we tackle the infinite-horizon control problem with a receding horizon scheme equipped with additional STL constraints that introduce minimal complexity and a backward-reachability-based terminal condition that is straightforward to construct and ensures recursive feasibility. Subsequently, we decompose the global receding horizon optimization problem into agent-level programs the objectives of which are to minimize local cost functions subject to local and joint STL constraints. We propose a scheduling policy that allows individual agents to sequentially optimize their control actions while maintaining recursive feasibility. This results in a distributed strategy that can operate online as a model predictive controller. Last, we illustrate the effectiveness of our method via a multi-agent system example assigned a surveillance task. |
| title | Distributed Sequential Receding Horizon Control of Multi-Agent Systems under Recurring Signal Temporal Logic |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2311.06890 |