Multi-agent system motion planning under temporal logic specifications and control barrier function  

作　　者：Xinyuan HUANG Li LI Jie CHEN 

机构地区：[1]College of Electronics and Information Engineering,Tongji University,Shanghai 201804,China [2]Shanghai Research Institute for Intelligent Autonomous Systems,Shanghai 201210,China

出　　处：《Control Theory and Technology》2020年第3期269-278,共10页控制理论与技术（英文版）

基　　金：This work was partially supported by the National Natural Science Foundation of China(No.51475334);the National Key Research and Development Program of Science and Technology of China(No.2018YFB1305304);the Shanghai Science and Technology Pilot Project(No.19511132100).

摘　　要：In this paper,w e provide a novel scheme to solve the motion planning problem of multi-agent systems under high-level task specifications.First,linear temporal logic is applied to express the global task specification.Then an efficient and decentralized algorithm is proposed to decom pose it into local tasks.M oreover,w e use control barrier function to synthesize the local controller for each agent under the linear temporal logic motion plan with safety constraint.Finally,simulation results show the effectiveness and efficiency of our proposed scheme.

关 键 词：Temporal logic multi-agent system formal methods control barrier function 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]