2018/03/22 by Verginis, Christos K., Dimarogonas, Dimos V.
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.1803.08288
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order dynamics, has to satisfy a given local temporal logic specification subject to connectivity maintenance and inter-agent collision avoidance. We propose a novel continuous control protocol that guarantees navigation of one agent to a goal point, up to a set of collision-free initial configurations, while maintaining connectivity of the initial neighboring set and avoiding inter-agent collisions. Based on that, we develop a hybrid switching control strategy that ensures that each agent satisfies its temporal logic task. Simulation results depict the validity of the proposed scheme.