On the timed temporal logic planning of coupled multi-agent systems

Νίκου, Αλέξανδρος; Boskos, Dimitris; Tůmová, Jana; Dimarogonas, Dimos V.

doi:10.1016/j.automatica.2018.08.023

Cited by 38 publications

(44 citation statements)

References 28 publications

(68 reference statements)

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“…According to the previous theorem, the robot with dynamics as in (1), starting its motion at time t i at RoI R i , under the control law (7), will have been navigated to RoI R j at time t ij . For the computation of the time t ij , Algorithm 1 is used.…”

Section: A Feedback Control Designmentioning

confidence: 99%

“…Over the last years the field of controlling systems under formal verification constraints has been gaining significant research attention due to important applications in robotics, autonomous driving and industrial automation. The timed logic that has primarily been used is Metric Interval Temporal Logic [1]- [7]. The control synthesis under Metric Interval Temporal Logic (MITL) consists of three parts: 1) first, the dynamics of the robot are abstracted into a Weighted Transition System (WTS) by providing feedback control laws that can drive the robot between states; the time duration that the robot needs to navigate between the states is modeled as a weight to the transition system.…”

Section: Introductionmentioning

confidence: 99%

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Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning

Νίκου

Heshmati-alamdari

Dimarogonas

2019

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)

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This paper deals with the design and experimental validation of a state-of-the art tube-based Model Predictive Control (MPC) for achieving time-constrained tasks. Given the uncertain nonlinear dynamics of the robot as well as a highlevel task written in Metric Interval Temporal Logic (MITL), the goal is to design a feedback control law that guarantees the satisfaction of the task. The workspace is divided into Regions of Interest (RoI) and contains also unsafe regions (obstacles) that the robot should not visit. The feedback control law consists of two terms: a control input which is the outcome of a Finite Horizon Optimal Control (FHOCP); and a state feedback law that guarantees that the nominal trajectories are bounded within a tube centered along the nominal trajectories. The aforementioned control law guarantees that the robot is safely navigated through the RoI within certain time bounds. The proposed framework can handle the rich expressiveness of MITL and is experimentally tested with a Nexus mobile robot in our lab facilities. The experimental results show that the proposed framework is promising for solving real-life robotic as well as industrial problems.

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Section: A Feedback Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning

Νίκου

Heshmati-alamdari

Dimarogonas

2019

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)

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“…Controller synthesis for multi-robot systems under MITL specifications has been investigated in Nikou et al. ( 2017 , ( 2018 , ( 2017 ), Karaman and Frazzoli ( 2008 ). In our previous works (Nikou et al.…”

Section: Introductionmentioning

confidence: 99%

Scalable time-constrained planning of multi-robot systems

2020

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This paper presents a scalable procedure for time-constrained planning of a class of uncertain nonlinear multi-robot systems. In particular, we consider N robotic agents operating in a workspace which contains regions of interest (RoI), in which atomic propositions for each robot are assigned. The main goal is to design decentralized and robust control laws so that each robot meets an individual high-level specification given as a metric interval temporal logic (MITL), while using only local information based on a limited sensing radius. Furthermore, the robots need to fulfill certain desired transient constraints such as collision avoidance between them. The controllers, which guarantee the transition between regions, consist of two terms: a nominal control input, which is computed online and is the solution of a decentralized finite-horizon optimal control problem (DFHOCP); and an additive state feedback law which is computed offline and guarantees that the real trajectories of the system will belong to a hyper-tube centered along the nominal trajectory. The controllers serve as actions for the individual weighted transition system (WTS) of each robot, and the time duration required for the transition between regions is modeled by a weight. The DFHOCP is solved at every sampling time by each robot and then necessary information is exchanged between neighboring robots. The proposed approach is scalable since it does not require a product computation among the WTS of the robots. The proposed framework is experimentally tested and the results show that the proposed framework is promising for solving real-life robotic as well as industrial applications.

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“…A suitable temporal logic for dealing with tasks that are required to be completed within certain time bounds is Metric Interval Temporal Logic (MITL). MITL has been originally proposed in [6] and has been used for controller synthesis in [7,8]. Given robot dynamics and an MITL formula, the controller synthesis procedure is as follows: first, the robot dynamics are abstracted into a discrete representation, the so-called Weighted Transition System (WTS), in which the time duration for navigating between states is modeled by a weight in WTS (abstraction); second, a product between the WTS and an automaton that accepts the runs that satisfy the given formula is computed; and third, once an accepting run in the product found, it maps into a sequence of feedback controllers of the robot dynamics.…”

Section: Introductionmentioning

confidence: 99%

Robust Tube-based Model Predictive Control for Time-constrained Robot Navigation

Νίκου

Dimarogonas

2019

2019 American Control Conference (ACC)

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This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of R n . Initially, we provide a novel class of robust feedback controllers that drive the robot between Regions of Interest (RoI) of the workspace. The control laws consists of two parts: an on-line controller which is the outcome of a Finite Horizon Optimal Control Problem (FHOCP); and a backstepping feedback law which is tuned off-line and guarantees that the real trajectory always remains in a bounded hyper-tube centered along the nominal trajectory of the robot. The proposed controller falls within the so-called tube-based Nonlinear Model Predictive control (NMPC) methodology. Then, given a desired high-level specification for the robot in Metric Interval Temporal Logic (MITL), by utilizing the aforementioned controllers, a framework that provably guarantees the satisfaction of the formula is provided. The proposed framework can handle the rich expressiveness of MITL in both safety and reachability specifications. Finally, the proposed framework is validated by numerical simulations.

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On the timed temporal logic planning of coupled multi-agent systems

Cited by 38 publications

References 28 publications

Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning

Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning

Scalable time-constrained planning of multi-robot systems

Robust Tube-based Model Predictive Control for Time-constrained Robot Navigation

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