間欠通信下のマルチエージェントシステムに対する制御器合成：メトリック時相論理アプローチ
Controller Synthesis for Multi-Agent Systems With Intermittent Communication: A Metric Temporal Logic Approach
リーダーが複数のフォロワーを切り替えながら間欠的に状態情報を送るマルチエージェント系で、安定性と合意を保証しつつリーダーの実用的制約をMTLで満たす最適制御入力を反復計算する手法を提案した。
著者: Zhe Xu, Federico M. Zegers, Bo Wu, Warren Dixon, Ufuk Topcu
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
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.
