Paper Info
Title
Controller Synthesis for Multi-Agent Systems With Intermittent Communication: A Metric Temporal Logic Approach
Abstract
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.
Year
DOI
Venue
2019
10.1109/ALLERTON.2019.8919727
2019 57TH ANNUAL ALLERTON CONFERENCE ON COMMUNICATION, CONTROL, AND COMPUTING (ALLERTON)
Field
DocType
ISSN
Control theory,Mathematical optimization,Optimal control,State information,Computer science,Control theory,Multi-agent system,Temporal logic,Position sensor,Mobile robot
Conference
2474-0195
Citations 
PageRank 
References 
0
0.34
0
Authors
5
Name
Order
Citations
PageRank
Zhe Xu14510.12
Federico M. Zegers213.06
Bo Wu300.34
Warren E. Dixon41757149.42
Ufuk Topcu51032115.78