DTL仕様を持つマルチエージェントPOMDPのためのバリア関数
Barrier Functions for Multiagent-POMDPs with DTL Specifications
人間や従来手法が与える方策に対し、離散時間バリア関数を用いてLDTL仕様を満たす最小干渉の安全シールドを設計し、ロボット群実験で有効性を示した論文。
著者: Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames
分類: eess.SY, cs.MA, cs.RO, cs.SY, math.OC
原文アブストラクト
Multi-agent partially observable Markov decision processes (MPOMDPs) provide a framework to represent heterogeneous autonomous agents subject to uncertainty and partial observation. In this paper, given a nominal policy provided by a human operator or a conventional planning method, we propose a technique based on barrier functions to design a minimally interfering safety-shield ensuring satisfaction of high-level specifications in terms of linear distribution temporal logic (LDTL). To this end, we use sufficient and necessary conditions for the invariance of a given set based on discrete-time barrier functions (DTBFs) and formulate sufficient conditions for finite time DTBF to study finite time convergence to a set. We then show that different LDTL mission/safety specifications can be cast as a set of invariance or finite time reachability problems. We demonstrate that the proposed method for safety-shield synthesis can be implemented online by a sequence of one-step greedy algorithms. We demonstrate the efficacy of the proposed method using experiments involving a team of robots.
