Distributed multi-agent persistent surveillance under temporal logic constraints

Derya Aksaray, Kevin Leahy, Calin Belta

Research output: Contribution to journalConference articlepeer-review

32 Scopus citations


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 languageEnglish (US)
Pages (from-to)174-179
Number of pages6
Issue number22
StatePublished - Oct 1 2015
Externally publishedYes
Event5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2015 - Philadelphia, United States
Duration: Sep 10 2015Sep 11 2015

Bibliographical note

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


  • Autonomous vehicles
  • Distributed control
  • Formal methods


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