Distributed planning of multi-agent systems with coupled temporal logic specifications

Ali Tevfik Buyukkocak, Derya Aksaray, Yasin Yazıcıoğlu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we investigate the multi-agent mission planning and control problem under coordination constraints such as collision avoidance and spatial coherence. We propose a sequential trajectory planning algorithm that is run by each agent in a distributed manner. Mission requirements including servicing specific regions, avoiding static and dynamic obstacles (other agents), and flying close to the other agents are incorporated into the problem as Signal Temporal Logic (STL) constraints. The planning problem under STL constraints is formulated as a Mixed Integer Linear Program and an off-the-shelf tool is used to find the high-level trajectories. The resulting high-level trajectories are then tracked by the agents via Model Predictive Control. Illustrative simulation and experiment results are presented in addition to comparing the proposed method with a centralized solution.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2021 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
Pages1-14
Number of pages14
ISBN (Print)9781624106095
DOIs
StatePublished - 2021
EventAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021 - Virtual, Online
Duration: Jan 11 2021Jan 15 2021

Publication series

NameAIAA Scitech 2021 Forum

Conference

ConferenceAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021
CityVirtual, Online
Period1/11/211/15/21

Bibliographical note

Funding Information:
This work was partially supported by Honeywell Aerospace and MnDRIVE, University of Minnesota.

Publisher Copyright:
© 2021, American Institute of Aeronautics and Astronautics Inc, AIAA. All Rights Reserved.

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