Controller Synthesis for Multi-Agent Systems with Intermittent Communication. A Metric Temporal Logic Approach

Zhe Xu, Federico M. Zegers, Bo Wu, Warren Dixon, Ufuk Topcu

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

6 Scopus citations

Abstract

This paper develops a controller synthesis approach for a multi-agent system (MAS) with intermittent communication. We adopt a leader-follower scheme, where a mobile leader with absolute position sensors switches among a set of followers without absolute position sensors to provide each follower with intermittent state information. We model the MAS as a switched system. The followers are to asymptotically reach a predetermined consensus state. To guarantee the stability of the switched system and the consensus of the followers, we derive maximum and minimal dwell-time conditions to constrain the intervals between consecutive time instants at which the leader should provide state information to the same follower. Furthermore, the leader needs to satisfy practical constraints such as charging its battery and staying in specific regions of interest. Both the maximum and minimum dwell-time conditions and these practical constraints can be expressed by metric temporal logic (MTL) specifications. We iteratively compute the optimal control inputs such that the leader satisfies the MTL specifications, while guaranteeing stability and consensus of the followers. We implement the proposed method on a case study with three mobile robots as the followers and one quadrotor as the leader.

Original languageEnglish (US)
Title of host publication2019 57th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1015-1022
Number of pages8
ISBN (Electronic)9781728131511
DOIs
StatePublished - Sep 2019
Externally publishedYes
Event57th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2019 - Monticello, United States
Duration: Sep 24 2019Sep 27 2019

Publication series

Name2019 57th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2019

Conference

Conference57th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2019
Country/TerritoryUnited States
CityMonticello
Period9/24/199/27/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Hardware and Architecture
  • Safety, Risk, Reliability and Quality
  • Control and Optimization

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