Modular Cooperative Tasking for Multi-agent Systems
Modular Cooperative Tasking for Multi-agent Systems
复制标题
多智能体系统的模块化协作任务
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Hai Lin
中科院分区：
文献类型：
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作者：
M. Karimadini;A. Karimoddini;Hai Lin
本文开发了一个多智能体系统协同任务的模块化框架。本文主要研究可以用自动机表示的多智能体系统的逻辑行为。这里的主要挑战是为协作代理集添加新的全局任务和设计一组新的本地控制器，新旧任务的组合是否可以通过新旧本地控制器的组合模块化实现。结果证明了两个连续全局任务自动机的可分解性和每个全局任务对应的局部控制器的存在性是保证模块化任务（新旧全局任务的组合）实现的充分条件。另一方面，模块化协作任务不再需要模块化任务的可分解性；然而，这是新旧任务自动机可分解的必要条件。通过一个协作机器人实例说明了模块化协作任务的概念。
This paper develops a modular framework for cooperative tasking for multi-agent systems. The paper focuses on logical behaviors of multi-agent systems that can be represented by automata. The main challenge here is that adding a new global task and designing a new set of local controllers for cooperative set of agents, whether the composition of the new and old tasks can be modularly achieved by the composition of new and old local controllers. The result proves that the decomposability of two successive global task automata and the existence of corresponding local controllers for each global task is a sufficient condition for modular cooperative tasking to guarantee the achievement of the modular task (the composition of the old and new global tasks). The decomposability of the modular task, on the other hand, turns to be not required for the modular cooperative tasking; however, it is shown to be a necessary condition for the decomposability of the old and new task automata. The concept of modular cooperative tasking is illustrated through a cooperative robotic example.