Formal Specification of Continuum Deformation Coordination
Formal Specification of Continuum Deformation Coordination
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DOI：
10.23919/acc.2019.8814645
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发表时间：
2019-07
期刊：
影响因子：
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通讯作者：
H. Rastgoftar;Jean-Baptiste Jeannin;E. Atkins
中科院分区：
文献类型：
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作者：
H. Rastgoftar;Jean-Baptiste Jeannin;E. Atkins
连续体变形是一种领导者-跟随者多智能体协作控制方法。以往的工作表明，所需的连续变形可以唯一定义的基础上的轨迹的d$$+1领导人在d维运动空间和获得的追随者通过本地代理间的通信。本文正式规定了连续变形协调在一个充满障碍物的环境。使用线性时序逻辑（LTL），连续变形的活性和安全性要求的定义。通过提供关于（i）代理偏离界限、（ii）代理间碰撞避免、（iii）代理遏制、（iv）运动空间遏制和（v）障碍物碰撞避免的条件来规定安全性。活性指定所需最终形成的可达性条件。
Continuum deformation is a leader-follower multiagent cooperative control approach. Previous work showed a desired continuum deformation can be uniquely defined based on trajectories of $d$+1 leaders in a d-dimensional motion space and acquired by followers through local inter-agent communication. This paper formally specifies continuum deformation coordination in an obstacle-laden environment. Using linear temporal logic (LTL), continuum deformation liveness and safety requirements are defined. Safety is prescribed by providing conditions on (i) agent deviation bound, (ii) inter-agent collision avoidance, (iii) agent containment, (iv) motion space containment, and (v) obstacle collision avoidance. Liveness specifies a reachability condition on the desired final formation.