Paper Info
Title
Decentralized Motion Planning for Multiagent Collaboration Under Coupled LTL Task Specifications
Abstract
This article proposes a decentralized collaboration scheme for the motion planning of multiagent systems under coupled linear temporal logic task specifications. In order to alleviate the massive computational complexity in centralized methods, coupled edges are introduced to decouple the product automata, and then the path of each agent is synthesized according to local messages. Furthermore, in order to achieve the real-time message exchange, the tableau and gossip protocol are employed during online communication, resulting in a distributed collaboration scheme. Finally, based on the resultant decoupled product automata, a united agent model is designed to deal with partial node failures, yielding a more robust collaboration scheme. Simulations are conducted to demonstrate the effectiveness and superiority of the proposed methods.
Year
DOI
Venue
2022
10.1109/TSMC.2021.3073105
IEEE Transactions on Systems, Man, and Cybernetics: Systems
Keywords
DocType
Volume
Decentralized motion planning,linear temporal logics (LTLs),multiagent systems
Journal
52
Issue
ISSN
Citations 
6
2168-2216
0
PageRank 
References 
Authors
0.34
25
4
Name
Order
Citations
PageRank
Daiying Tian100.34
hao fang2478.32
Qingkai Yang3226.51
Wei Yue417015.50