TY - JOUR
T1 - Hybrid control of multiagent systems with contingent temporal tasks and prescribed formation constraints
AU - Guo, Meng
AU - Bechlioulis, Charalampos P.
AU - Kyriakopoulos, Kostas J.
AU - Dimarogonas, Dimos V.
N1 - Funding Information:
Manuscript received February 2, 2016; revised February 5, 2016; accepted April 5, 2016. Date of publication April 20, 2016; date of current version December 15, 2017. This work was supported in part by the Swedish Research Council (VR), in part by the ERC BUCOPHSYS, and in part by the EU STREP RECONFIG: FP7-ICT-600825. Recommended by Associate Editor Y. Hong.
Publisher Copyright:
© 2016 IEEE.
PY - 2017/12
Y1 - 2017/12
N2 - In this paper, we present a distributed hybrid control strategy for multiagent systems with contingent temporal tasks and prescribed formation constraints. Each agent is assigned a local task given as a linear temporal logic formula. In addition, two commonly seen kinds of cooperative robotic tasks, namely, service and formation, are requested and exchanged among the agents in real time. The service request is a short-term task provided by one agent to another. On the other hand, the formation request is a relative deployment requirement with predefined transient response imposed by an associated performance function. The proposed hybrid control strategy consists of four major components: 1) the contingent requests handling-module; 2) the real-time events monitoring module; 3) the local discrete plan synthesis module; and 4) the continuous control switching module, and it is shown that all local tasks and contingent service/formation requests are fulfilled. Finally, a simulated paradigm demonstrates the proposed control strategy.
AB - In this paper, we present a distributed hybrid control strategy for multiagent systems with contingent temporal tasks and prescribed formation constraints. Each agent is assigned a local task given as a linear temporal logic formula. In addition, two commonly seen kinds of cooperative robotic tasks, namely, service and formation, are requested and exchanged among the agents in real time. The service request is a short-term task provided by one agent to another. On the other hand, the formation request is a relative deployment requirement with predefined transient response imposed by an associated performance function. The proposed hybrid control strategy consists of four major components: 1) the contingent requests handling-module; 2) the real-time events monitoring module; 3) the local discrete plan synthesis module; and 4) the continuous control switching module, and it is shown that all local tasks and contingent service/formation requests are fulfilled. Finally, a simulated paradigm demonstrates the proposed control strategy.
KW - Formal synthesis
KW - Hybrid control
KW - Multiagent system
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U2 - 10.1109/TCNS.2016.2555581
DO - 10.1109/TCNS.2016.2555581
M3 - Article
AN - SCOPUS:85053263229
SN - 2325-5870
VL - 4
SP - 781
EP - 792
JO - IEEE Transactions on Control of Network Systems
JF - IEEE Transactions on Control of Network Systems
IS - 4
M1 - 2555581
ER -