References & Citations
Electrical Engineering and Systems Science > Systems and Control
Title: Distributed Sequential Receding Horizon Control of Multi-Agent Systems under Recurring Signal Temporal Logic
(Submitted on 12 Nov 2023 (v1), last revised 26 Apr 2024 (this version, v2))
Abstract: We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches to handling recurring STL systematically, we tackle the infinite-horizon control problem with a receding horizon scheme equipped with additional STL constraints that introduce minimal complexity and a backward-reachability-based terminal condition that is straightforward to construct and ensures recursive feasibility. Subsequently, we decompose the global receding horizon optimization problem into agent-level programs the objectives of which are to minimize local cost functions subject to local and joint STL constraints. We propose a scheduling policy that allows individual agents to sequentially optimize their control actions while maintaining recursive feasibility. This results in a distributed strategy that can operate online as a model predictive controller. Last, we illustrate the effectiveness of our method via a multi-agent system example assigned a surveillance task.
Submission history
From: Eleftherios Vlahakis [view email][v1] Sun, 12 Nov 2023 16:28:43 GMT (869kb)
[v2] Fri, 26 Apr 2024 14:17:26 GMT (140kb)
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