Guaranteed global performance through local coordinations

49th IEEE Conference on Decision and Control (CDC)

2010

Self Cite

Multi-agent system is a rapidly developing research area with strong support from both civilian and military applications. One of the essential problems in multi-agent system research is how to design local interaction rules and coordination principles among agents such that the whole system achieves desired global behaviors. To tackle this problem, a divide-and-conquer approach was proposed in [1], and the basic idea is to decompose the requested global specification into subtasks for individual agents in such a way that the fulfillment of these subtasks by each individual agent should lead to the satisfaction of the global specification. Then, the design reduces to achieving the assigned subtasks for corresponding individual agents. In [1], it was shown that not all global tasks can be decomposed, and a necessary and sufficient condition on the decomposability of a task automaton between two agents was presented. For more than two agents, we then proposed a hierarchical algorithm as a sufficient condition for decomposability. This paper aims to extend the necessary and sufficient decomposability conditions for any arbitrary finite number of cooperative agents. A new necessary and sufficient condition on decomposability of a task automaton is proposed, here. Several examples are provided to illustrate the decomposition scheme and conditions.

Section: Introductionmentioning

confidence: 76%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Decomposability of global tasks for multi-agent systems

Karimadini

49th IEEE Conference on Decision and Control (CDC)

2010

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“…[10] [8] and references therein. Karimadini and Lin [6] studied multi-agent cooperative tasking problems using topdown design approach and identified necessary and sufficient conditions under which a deterministic task automaton is decomposable with respect to parallel composition and natural projections into local event sets in the sense of bisimulation.…”

Section: Introductionmentioning

confidence: 99%

Learning-based design of fault-tolerant cooperative multi-agent systems

Dai

2015 American Control Conference (ACC)

2015

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This paper addresses fault-tolerance of multiagent systems. Modeling the behaviors of each agent in the system as a local automaton and the system behaviors as the composition of them, the fault-tolerance property requires that the system can satisfy a global regular language specification prior to as well as after the occurrence of a fault. In particular, this paper concerns with sensor and actuator failures occurring in individual agents, in which the former are captured as loss of observability of a local event of a failed agent, and the latter are modeled as a total loss of an event from an agent. Should either failure occur, the corresponding local supervisors need to be redesigned and the team needs to be reconfigured as the original task decomposition scheme and controllers would fail to satisfy the specification. For such a pursuit, we propose frameworks for addressing sensor and/or actuator failure tolerance by incorporating a learning-based supervisor synthesis approach and control reconfiguration mechanism in the face of possible failures. Illustrative examples are also presented to show the frameworks' effectiveness.

Cooperative Tasking for Deterministic Specification Automata

Karimadini

Asian Journal of Control

Karimoddini

2016

Self Cite

This paper proposes necessary and sufficient conditions for task decomposability with respect to an arbitrary finite number of agents. It is furthermore shown that fulfilling the decomposed local tasks by individual agents guarantees the satisfaction of the original global decomposable task. A divide-and-conquer approach for cooperative tasking among multi-agent systems is proposed. The basic idea is to decompose an assigned global specification (given as a deterministic automaton) into subtasks for individual concurrent agents such that the fulfillment of these subtasks by each individual agent leads to the satisfaction of the global specification as a team. A cooperative scenario involving three robots has been implemented to illustrate the proposed technique. This work provides insights into what kinds of tasks can be achieved distributively, which helps designers specify achievable global tasks for a group of agents and design necessary information sharing among each other for a particular task.