Decentralized Multi-agent Coordination under MITL Tasks and Communication Constraints

W. Wang, Georg Friedrich Schuppe, Jana Tumova
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引用次数: 2

Abstract

We propose a decentralized framework to solve a coordination problem for multiagent systems consisting of heterogeneous agents, each of which uses only local information based on limited sensing and communication capabilities. In the proposed method, slower heavy-duty robots are each assigned a task specification specified in metric interval temporal logic. These specifications express complex, time-bounded tasks that are potentially dependent on other agents' actions. Heavy-duty robots update their task plans upon receiving a cooperative request from other heavy-duty robots in order to complete cooperative tasks. These requests are transmitted by the more agile light-duty robots responsible for information exchange, which systematically pursue heavy-duty robots. Our work in progress aims to present the framework together with a set of assumptions under which the solution is complete. We also aim to evaluate the framework on a series of use cases motivated by search and rescue.
MITL任务和通信约束下的分散多智能体协调
我们提出了一个分散的框架来解决由异构智能体组成的多智能体系统的协调问题,每个智能体只使用基于有限感知和通信能力的本地信息。在该方法中,每个慢速重型机器人被分配一个以度量间隔时间逻辑指定的任务规范。这些规范表达了复杂的、有时间限制的任务,这些任务可能依赖于其他代理的操作。重型机器人在收到其他重型机器人的合作请求后,会更新自己的任务计划,以完成合作任务。这些请求由更灵活的轻型机器人传递,负责信息交换,系统地追赶重型机器人。我们正在进行的工作旨在提供框架和一组假设,在这些假设下解决方案是完整的。我们还打算在一系列由搜索和救援驱动的用例上评估该框架。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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