Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks

We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the control synthesis problem for single-agent systems under sign...

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Bibliographic Details
Published in2019 18th European Control Conference (ECC) pp. 89 - 94
Main Authors Lindemann, Lars, Dimarogonas, Dimos V.
Format Conference Proceeding
LanguageEnglish
Published EUCA 01.06.2019
Subjects
Aerospace electronics
Computational complexity
Decentralized control
Dynamical systems
Europe
Feedback control
Logic
Multi-agent systems
Time factors
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DOI10.23919/ECC.2019.8796109

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Summary:We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the control synthesis problem for single-agent systems under signal temporal logic tasks are, however, subject to a high computational complexity. Methods for multi-agent systems scale at least linearly with the number of agents and induce even higher computational burdens. We propose a computationally-efficient control strategy to solve the multi-agent control synthesis problem that results in a robust satisfaction of a set of signal temporal logic tasks. In particular, a decentralized feedback control law is proposed that is based on time-varying control barrier functions. The obtained control law is discontinuous and formal guarantees are provided by nonsmooth analysis. Simulations show the efficacy of the presented method.
DOI:10.23919/ECC.2019.8796109