Synthesis of Minimum-Cost Shields for Multi-agent Systems
Synthesis of Minimum-Cost Shields for Multi-agent Systems
复制标题
多智能体系统最低成本防护罩的综合
DOI：
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
U. Topcu
中科院分区：
文献类型：
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作者：
Suda Bharadwaj;R. Bloem;Rayna Dimitrova;Bettina Könighofer;U. Topcu
在这篇文章中，我们提出了一种通用的方法来从时态逻辑规范中推导出多智能体系统的运行时强制实现，称为屏蔽。多代理系统的每个代理被屏蔽监视，并且如果需要的话，由屏蔽进行纠正，从而总是满足全局规范。在出现错误的情况下，屏蔽如何干扰系统中的每个代理的不同方式引入了对量化目标的需求。这项工作是首次讨论具有定量目标的屏蔽综合问题。在给定的多智能体系统假设下，我们给出了多智能体环境中使用的几种代价函数，并给出了综合代价最优屏蔽和公平屏蔽的方法。以无人机仓储物流任务规划为例，在ROS/Gazebo上对屏蔽多智能体系统进行了仿真，验证了该方法的适用性。
In this paper, we propose a general approach to derive runtime enforcement implementations for multiagent systems, called shields, from temporal logical specifications. Each agent of the multi-agent system is monitored, and if needed corrected, by the shield, such that a global specification is always satisfied. The different ways of how a shield can interfere with each agent in the system in case of an error introduces the need for quantitative objectives. This work is the first to discuss the shield synthesis problem with quantitative objectives. We provide several cost functions that are utilized in the multi-agent setting and provide methods for the synthesis of cost-optimal shields and fair shields, under the given assumptions on the multi-agent system. We demonstrate the applicability of our approach via a detailed case study on UAV mission planning for warehouse logistics and simulating the shielded multi-agent system on ROS/Gazebo.
护盾合成
影响因子：
0.8
作者：
Alshiekh, Mohammed;Bloem, Roderick;Humphrey, Laura;Topcu, Ufuk;Wang, Chao
通讯作者：
Wang, Chao