有限時間制御バリア証明と時相論理によるマルチエージェントシステムの制御
Control of Multi-Agent Systems with Finite Time Control Barrier Certificates and Temporal Logic
有限時間収束制御バリア関数と線形時相論理を組み合わせ、連続時間マルチエージェント系の複雑なタスク仕様を満たす制御則を合成する手法を提案し、Robotariumで実機検証した。
著者: Mohit Srinivasan, Samuel Coogan, Magnus Egerstedt
分類: eess.SY, cs.RO, cs.SY, math.OC
原文アブストラクト
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence to a desired set in the state space is guaranteed under the existence of a suitable finite time convergence control barrier function. In addition, these barrier functions also guarantee forward invariance once the system converges to the desired set. This allows us to formulate a theoretical framework which synthesizes controllers for the multi-agent system. These properties also enable us to solve the reachability problem in continuous time by formulating a theorem on the composition of multiple finite time convergence control barrier functions. This approach is more flexible than existing methods and also allows for a greater set of feasible control laws. Linear temporal logic is used to specify complex task specifications that need to be satisfied by the multi-agent system. With this solution methodology, a control law is synthesized that satisfies the given temporal logic task specification. Robotic experiments are provided which were performed on the Robotarium multi-robot testbed at Georgia Tech.
