Planning of Heterogeneous Multi-Agent Systems under Signal Temporal Logic Specifications with Integral Predicates

Ali Tevfik Buyukkocak, Derya Aksaray, Yasin Yazcoglu

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

We address the problem of coordinating the trajectories of heterogeneous multi-agent systems under spatio-temporal specifications. In particular, we consider global Signal Temporal Logic (STL) constraints to express the number and type of agents that should be present at specific locations within the desired time windows. We also introduce an integral predicate to specify cumulative progress that can be achieved asynchronously by multiple agents. In order to generate optimal trajectories, we formulate a mixed-integer linear program whose objective is minimizing the agent movement subject to the heterogeneous abstracted dynamics of the agents and a global STL specification including the novel integral predicate. We demonstrate the performance of the proposed method via simulations and experiments with drones.

Original languageEnglish (US)
Article number9345973
Pages (from-to)1375-1382
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume6
Issue number2
DOIs
StatePublished - Apr 1 2021

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

  • Formal methods in robotics and automation
  • multi-robot systems
  • optimization and optimal control

Fingerprint

Dive into the research topics of 'Planning of Heterogeneous Multi-Agent Systems under Signal Temporal Logic Specifications with Integral Predicates'. Together they form a unique fingerprint.

Cite this