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Leader-follower hybrid control and task planning for multi-agent systems under spatiotemporal logic specifications

Project description

Multi-agent control using a leader-follower hybrid approach

A current trend in multi-agent control is the use of formal verification to identify more general task specifications that induce a sequence of control actions. However, in existing solutions, the quantitative transient constraints or high computational costs of controlling the whole agent group when the number of agents grows aren’t considered. The EU-funded LEAFHOUND project proposes a heterogeneous, leader-follower approach as an alternative. This relies on three design stages: deriving transient controllers for cooperative control objectives in leader-follower networks, employing controllers for tasks as spatio-temporal logic specifications, and tackling task dependencies and infeasibilities by using notions of network controllability. This approach opens up new avenues in the fields of control, robotics and formal methods-based synthesis.

Call for proposal

ERC-2019-COG
See other projects for this call

Funding Scheme

ERC-COG - Consolidator Grant

Host institution

KUNGLIGA TEKNISKA HOEGSKOLAN
Address
Brinellvagen 8
100 44 Stockholm
Sweden
Activity type
Higher or Secondary Education Establishments
EU contribution
€ 1 999 996

Beneficiaries (1)

KUNGLIGA TEKNISKA HOEGSKOLAN
Sweden
EU contribution
€ 1 999 996
Address
Brinellvagen 8
100 44 Stockholm
Activity type
Higher or Secondary Education Establishments