Distributed multi-agent persistent surveillance under temporal logic constraints

Derya Aksaray; Kevin Leahy; Calin Belta

doi:10.1016/ifacol.2015.10.326

Distributed multi-agent persistent surveillance under temporal logic constraints

Derya Aksaray, Kevin Leahy, Calin Belta

Research output: Contribution to journal › Conference article › peer-review

32 Scopus citations

Abstract

We consider the problem of finding optimal agent trajectories for persistent surveillance missions subject to temporal logic (TL) constraints. Specifically, we aim to minimize the time between two consecutive visits to regions of interest in a partitioned environment while satisfying each agent's TL specification. We formulate a distributed optimization problem, where each agent plans its trajectory based only on local information. We use a formal methods approach to show that any trajectory resulting from the proposed controller satisfies the corresponding TL constraints. The results are illustrated through simulations by comparing the proposed strategy with a joint planner and a planner without communication.

Original language	English (US)
Pages (from-to)	174-179
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	28
Issue number	22
DOIs	https://doi.org/10.1016/ifacol.2015.10.326
State	Published - Oct 1 2015
Externally published	Yes
Event	5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2015 - Philadelphia, United States Duration: Sep 10 2015 → Sep 11 2015

Bibliographical note

Publisher Copyright:
© 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Keywords

Autonomous vehicles
Distributed control
Formal methods

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10.1016/ifacol.2015.10.326

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abstract = "We consider the problem of finding optimal agent trajectories for persistent surveillance missions subject to temporal logic (TL) constraints. Specifically, we aim to minimize the time between two consecutive visits to regions of interest in a partitioned environment while satisfying each agent's TL specification. We formulate a distributed optimization problem, where each agent plans its trajectory based only on local information. We use a formal methods approach to show that any trajectory resulting from the proposed controller satisfies the corresponding TL constraints. The results are illustrated through simulations by comparing the proposed strategy with a joint planner and a planner without communication.",

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T1 - Distributed multi-agent persistent surveillance under temporal logic constraints

AU - Aksaray, Derya

AU - Leahy, Kevin

AU - Belta, Calin

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N2 - We consider the problem of finding optimal agent trajectories for persistent surveillance missions subject to temporal logic (TL) constraints. Specifically, we aim to minimize the time between two consecutive visits to regions of interest in a partitioned environment while satisfying each agent's TL specification. We formulate a distributed optimization problem, where each agent plans its trajectory based only on local information. We use a formal methods approach to show that any trajectory resulting from the proposed controller satisfies the corresponding TL constraints. The results are illustrated through simulations by comparing the proposed strategy with a joint planner and a planner without communication.

AB - We consider the problem of finding optimal agent trajectories for persistent surveillance missions subject to temporal logic (TL) constraints. Specifically, we aim to minimize the time between two consecutive visits to regions of interest in a partitioned environment while satisfying each agent's TL specification. We formulate a distributed optimization problem, where each agent plans its trajectory based only on local information. We use a formal methods approach to show that any trajectory resulting from the proposed controller satisfies the corresponding TL constraints. The results are illustrated through simulations by comparing the proposed strategy with a joint planner and a planner without communication.

KW - Autonomous vehicles

KW - Distributed control

KW - Formal methods

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EP - 179

JO - IFAC-PapersOnLine

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ER -

Distributed multi-agent persistent surveillance under temporal logic constraints

Abstract

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