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 language||English (US)|
|Number of pages||6|
|State||Published - Oct 1 2015|
|Event||5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2015 - Philadelphia, United States|
Duration: Sep 10 2015 → Sep 11 2015
Bibliographical noteFunding Information:
NSTFhiusnwdoerrkgwraanstspaCrMtiaMllyI-1s4u0p0p1o6r7teadnadt NBRosIt-1o4n26U9n0i7fi,erasnitdy by the NSF under grants CMMI-1400167 and NRI-1426907, and by the OSNFR under granttsMCUMRMI NI-0104001041-6079-a1n0d51N. RI-1426907, and by the ONR under grant MURI N00014-09-1051. ONR under grant MURI N00014-09-1051.
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- Autonomous vehicles
- Distributed control
- Formal methods