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Multi-agent Coordination Subject to Counting Constraints: A Hierarchical Approach

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Book cover Distributed Autonomous Robotic Systems

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 9))

Abstract

This paper considers the problem of generating multi-agent trajectories to satisfy properties given in counting temporal logic. A hierarchical solution approach is proposed where a coarse plan that satisfies the logic constraints is computed first at the higher-level, followed by a lower-level task of solving a sequence of multi-agent reachability problems. Collision avoidance and potential asynchronous executions are also dealt with at the lower-level. When lower-level planning problems are found to be infeasible, these infeasibility certificates are incorporated into the higher-level problem to re-generate plans. The results are demonstrated with several examples that show how the proposed approach scales with respect to different parameters.

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Acknowledgements

This work is supported in part by NSF grants CNS-1446298 and ECCS-1553873, and DARPA grant N66001-14-1-4045.

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Authors and Affiliations

  1. Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, 48109, USA

    Yunus Emre Sahin & Necmiye Ozay

  2. Department of Computer Science, Aalto University, 02150, Espoo, Finland

    Stavros Tripakis

  3. College of Computer and Information Science, Northeastern University, Boston, MA, 02115, USA

    Stavros Tripakis

Authors
  1. Yunus Emre Sahin
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  2. Necmiye Ozay
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  3. Stavros Tripakis
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Corresponding author

Correspondence to Yunus Emre Sahin .

Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA

    Nikolaus Correll

  2. Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA

    Mac Schwager

  3. Department of Aerospace Engineering, University of Maryland, College Park, MD, USA

    Michael Otte

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Sahin, Y.E., Ozay, N., Tripakis, S. (2019). Multi-agent Coordination Subject to Counting Constraints: A Hierarchical Approach. In: Correll, N., Schwager, M., Otte, M. (eds) Distributed Autonomous Robotic Systems. Springer Proceedings in Advanced Robotics, vol 9. Springer, Cham. https://doi.org/10.1007/978-3-030-05816-6_19

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