Multi-agent system motion planning under temporal logic specifications and control barrier function
Xinyuan HUANG1
Li LI2
Jie CHEN3
1.College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China2.Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai 201210, China3.Department of Control Science and Engineering, Tongji University
摘要：In this paper,we 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 decompose it into local tasks.Moreover,we 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.
机标关键词：
论文发表日期：2020-08-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：10( 269-278 )
英文信息