Recently, the controllability problem of multi-agent systems is significantly explored; however, the majority of studies have been focused on the classical controllability approaches. This paper investigates the necessary and sufficient conditions of structural controllability for high order dynamic multi-agent systems. We consider a group of agents in a leader-follower framework under a fixed topology structure. It is assumed that, the agents interconnection is a weighted graph with freely chosen weights and each agent has a high order controllable canonical dynamic. Under this setup we show that the structural controllability of such a network is directly determined by agent interconnection. It is shown that a set of weights can be found which make the entire network controllable if and only if the graph is connected. Finally, we present a numerical example and simulation to illustrate the results.

Type-2 systems has been becoming the focus of research in the field of fuzzy logic in recent years. Comparing with type-1 systems, type-2 fuzzy systems are more complex and relatively more difficult to understand and implement. We developed an interactive graphical user interface (GUI) based toolbox, MFLS tool, for interval type-2 fuzzy logic system. This paper presents MFLS toolbox. Moreover, the versatility of the software is demonstrated via an prediction problem.

This paper aims to investigate the task decomposition problem of multi-agent systems. Task decomposition among agents refers to a process to decompose a given global task into subtasks for individual agents. The decomposition is not arbitrary and should be done in such a way that the satisfaction of the sub-tasks by all agents individually would imply the accomplishment of the global task collectively. In this paper, it is assumed that agents are modeled by labeled transition systems, and the global specification is given as a subclass of Computation Tree Logic (CTL) formulas. It is also assumed that the global CTL specification is broadcasted to and known by all agents. Agents could be heterogeneous and have different capabilities. In order to obtain subtasks for each agent with a maximum potential for fault tolerance, our basic idea is to let each agent contribute to their maximum capabilities in the sense of satisfying a maximum number of sub-formulas of the global specification. The maximum satisfaction set is achieved through a modified CTL model checking algorithm. These maximum satisfiable sub-formulas can be used as the subtask for the corresponding agent. Furthermore, based on assume-guarantee reasoning, sufficient conditions are derived to guarantee the satisfaction of the global CTL specification provided that each agent fullfill its own subtasks. A two-robot cooperative motion planning example is given to illustrate the results.

Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission specifications makes the problem computationally intractable. This paper presents a reactive integrated mission and motion planning for mobile-robot manipulator systems operating in a partially known environment. We introduce a multilayered synergistic framework that receives high-level mission specifications expressed in linear temporal logic and generates dynamically-feasible and collision-free motion trajectories to achieve it. In the high-level layer, a mission planner constructs a symbolic two-player game between the robots and their environment to synthesis a strategy that adapts to changes in the workspace imposed by other robots. A bilateral synergistic layer is developed to map the designed mission plan to an integrated task and motion planner, constructing a set of robot tasks to move the objects according to the mission strategy.In the low-level planning stage, verifiable motion controllers are designed that can be incrementally composed to guarantee a safe motion planning for each high-level induced task. The proposed framework is illustrated with a multi-robot warehouse example with the mission of moving objects to various locations.

The conventional Wonham-Ramadge supervisory control framework of discrete event systems enforces a closed discrete event system to generate correct behaviors under certain environments, which can be captured by an appropriate plant model. Nevertheless, such control methods cannot be directly applied for many practical engineering systems nowadays since they are open systems and their operation heavily depends on nontrivial interactions between the systems and the external environments. These open systems should be controlled in such a way that accomplishment of the control objective can be guaranteed for any possible environment, which may be dynamic, uncertain and sometimes unpredictable. In this paper, we aim at extending the conventional supervisory control theory to open discrete event systems in a reactive manner. Starting from a novel input-output automaton model of an open system, we consider control objectives that characterize the desired inputoutput behaviors of the system, based on which a game-theoretic approach is carried out to compute a reactive supervisor that steers the system to fulfill the specifications regardless of the environment behaviors. We present a necessary and sufficient conditions for the existence of such a reactive supervisor. Furthermore, illustrative examples are given throughout this paper to demonstrate the key definitions and the effectiveness of the proposed reactive supervisor synthesis framework.