Distributed Communication-aware Motion Planning for Multi-agent Systems from STL and SpaTeL Specifications

被引：0

作者：

Liu, Zhiyu ^{[1
]}

Wu, Bo ^{[1
]}

Dai, Jin ^{[1
]}

Lin, Hai ^{[1
]}

机构：

[1] Univ Notre Dame, Dept Elect Engn, Notre Dame, IN 46556 USA

来源：

2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2017年

基金：

美国国家科学基金会;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we study the control and communication co-design for networked vehicles that coordinate with each other to achieve safe operations. We propose a control-theoretical framework for distributed motion planning for multi-agent such that complex and high-level specifications are satisfied while communication quality is optimized. The desired motion specifications and communication performance are specified as signal temporal logic (STL) and spatial-temporal logic (SpaTeL) formulas, respectively. We encode the formulas as the constraints in mixed integer linear programs (MILP), and upon which control strategies satisfying both STL and SpaTeL specifications are generated locally by employing a distributed model predictive control (MPC) framework. The effectiveness of the proposed framework is validated by simulation.

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页数：6

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