TY - GEN
T1 - Controller Synthesis for Multi-Agent Systems with Intermittent Communication. A Metric Temporal Logic Approach
AU - Xu, Zhe
AU - Zegers, Federico M.
AU - Wu, Bo
AU - Dixon, Warren
AU - Topcu, Ufuk
N1 - Funding Information:
This research is supported in part by AFRL award number FA9550-19-1-0169, DARPA award number D19AP00004, AFOSR award numbers FA9550-18-1-0109 and FA9550-19-1-0169, and NEEC award number N00174-18-1-0003. Any opinions, findings and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the sponsoring agency.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - This paper develops a controller synthesis approach for a multi-agent system (MAS) with intermittent communication. We adopt a leader-follower scheme, where a mobile leader with absolute position sensors switches among a set of followers without absolute position sensors to provide each follower with intermittent state information. We model the MAS as a switched system. The followers are to asymptotically reach a predetermined consensus state. To guarantee the stability of the switched system and the consensus of the followers, we derive maximum and minimal dwell-time conditions to constrain the intervals between consecutive time instants at which the leader should provide state information to the same follower. Furthermore, the leader needs to satisfy practical constraints such as charging its battery and staying in specific regions of interest. Both the maximum and minimum dwell-time conditions and these practical constraints can be expressed by metric temporal logic (MTL) specifications. We iteratively compute the optimal control inputs such that the leader satisfies the MTL specifications, while guaranteeing stability and consensus of the followers. We implement the proposed method on a case study with three mobile robots as the followers and one quadrotor as the leader.
AB - This paper develops a controller synthesis approach for a multi-agent system (MAS) with intermittent communication. We adopt a leader-follower scheme, where a mobile leader with absolute position sensors switches among a set of followers without absolute position sensors to provide each follower with intermittent state information. We model the MAS as a switched system. The followers are to asymptotically reach a predetermined consensus state. To guarantee the stability of the switched system and the consensus of the followers, we derive maximum and minimal dwell-time conditions to constrain the intervals between consecutive time instants at which the leader should provide state information to the same follower. Furthermore, the leader needs to satisfy practical constraints such as charging its battery and staying in specific regions of interest. Both the maximum and minimum dwell-time conditions and these practical constraints can be expressed by metric temporal logic (MTL) specifications. We iteratively compute the optimal control inputs such that the leader satisfies the MTL specifications, while guaranteeing stability and consensus of the followers. We implement the proposed method on a case study with three mobile robots as the followers and one quadrotor as the leader.
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U2 - 10.1109/ALLERTON.2019.8919727
DO - 10.1109/ALLERTON.2019.8919727
M3 - Conference contribution
AN - SCOPUS:85077787155
T3 - 2019 57th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2019
SP - 1015
EP - 1022
BT - 2019 57th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 57th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2019
Y2 - 24 September 2019 through 27 September 2019
ER -