Reconfiguration in motion planning of single- and multi-agent systems under infeasible local LTL specifications
Reconfiguration in motion planning of single- and multi-agent systems under infeasible local LTL specifications
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DOI：
10.1109/cdc.2013.6760300
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发表时间：
2013-12
期刊：
影响因子：
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通讯作者：
Meng Guo;Dimos V. Dimarogonas
中科院分区：
文献类型：
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作者：
Meng Guo;Dimos V. Dimarogonas
提出了一种基于模型检测的单智能体和多智能体系统在不可行局部LTL规范下的运动规划重构方法。该方法描述了如何合成最符合不可行任务规范的运动规划，以及如何放松不可行任务规范。新颖之处在于引入了原子命题域中的度量，以及运动计划的实施成本与其到原始规范的距离之间的相对权重。对于多智能体系统，当任务被独立地分配给每个智能体时，会合并依赖关系和相对优先级。仿真结果验证了该方法的有效性。
A reconfiguration method for the model-checking-based motion planning of single- and multi-agent systems under infeasible local LTL specifications is proposed. The method describes how to synthesize the motion plan that fulfills the infeasible task specification the most, and how the infeasible task specification is relaxed. The novelty is the introduction of a metric within the atomic proposition domain, and the relative weighting between the implementation cost of a motion plan and its distance to the original specification. For multi-agent systems, a dependency relation and relative priorities are incorporated when the tasks are assigned independently to each agent. Simulations are presented to illustrate the method.