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.
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