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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2505.07240 |
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| _version_ | 1866915897667485696 |
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| author | Yuan, Yating Liu, Yu |
| author_facet | Yuan, Yating Liu, Yu |
| contents | 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 satisfaction of the specifications. To ensure such control, a two-stage framework is proposed to address this challenge. First, based on geometric control, a Lyapunov-based analysis of the rotational tracking dynamics is performed to facilitate multidimensional gain design. In addition, tracking-error bounds for subsequent STL robustness analysis are derived. Second, using the tracking-error bounds, a mixed-integer convex programming (MICP)-based planning framework with a backward-recursive scheme is developed. The framework is used to generate reference trajectories that satisfy multi-agent STL tasks while meeting the trajectory requirements imposed by geometric control. Numerical simulations demonstrate that, compared with uniform gains, the optimized multidimensional gains yield less conservative time-varying bounds, mitigate oscillations, and improve transient performance, while the proposed framework ensures the satisfaction of multi-agent STL tasks in constrained environments with provable tracking guarantees. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_07240 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Continuous-Time Control Synthesis for Multiple Quadrotors under Signal Temporal Logic Specifications Yuan, Yating Liu, Yu Systems and Control Multiagent Systems 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 satisfaction of the specifications. To ensure such control, a two-stage framework is proposed to address this challenge. First, based on geometric control, a Lyapunov-based analysis of the rotational tracking dynamics is performed to facilitate multidimensional gain design. In addition, tracking-error bounds for subsequent STL robustness analysis are derived. Second, using the tracking-error bounds, a mixed-integer convex programming (MICP)-based planning framework with a backward-recursive scheme is developed. The framework is used to generate reference trajectories that satisfy multi-agent STL tasks while meeting the trajectory requirements imposed by geometric control. Numerical simulations demonstrate that, compared with uniform gains, the optimized multidimensional gains yield less conservative time-varying bounds, mitigate oscillations, and improve transient performance, while the proposed framework ensures the satisfaction of multi-agent STL tasks in constrained environments with provable tracking guarantees. |
| title | Continuous-Time Control Synthesis for Multiple Quadrotors under Signal Temporal Logic Specifications |
| topic | Systems and Control Multiagent Systems |
| url | https://arxiv.org/abs/2505.07240 |