Descrizione del progetto
Controllo multiagente con un approccio ibrido leader-follower
Una tendenza attuale nel controllo multi-agente è l’uso della verifica formale per identificare le specifiche di attività più generali che inducono una sequenza di azioni di controllo. Tuttavia, nelle soluzioni esistenti, non vengono considerati i vincoli quantitativi transitori o gli elevati costi di calcolo del controllo dell’intero gruppo di agenti quando il numero di agenti cresce. Il progetto LEAFHOUND, finanziato dall’UE, propone come alternativa un approccio eterogeneo e leader-follower. Si basa su tre fasi di progettazione: derivazione dei controllori transitori per obiettivi di controllo cooperativo nelle reti leader-follower, impiego di controllori per mansioni come specifiche logiche spazio-temporali, e gestione delle dipendenze e delle infattibilità delle mansioni utilizzando nozioni di controllabilità della rete. Questo approccio apre nuove strade nel campo del controllo, della robotica e della sintesi basata su metodi formali.
Obiettivo
Multi-agent control is a popular research topic due to its applications in a variety of areas. The main approach has been to incorporate tools from single-agent control to the multi-agent setup. However, many applications involve more complex tasks that may not be cast as a classic control objective, while the agents may be subject to constraints in space and time. A current trend is thus to use formal verification in order to specify more general task specifications that induce a sequence of control actions rather than a stand-alone objective. Spatiotemporal logics are based on continuous time signals and allow formulating space and time constraints, and thus are suitable for defining such specifications in multi-agent systems. Existing solutions do not take into account quantitative transient constraints, nor consider the high computational cost that may be endured by controlling the whole agent group when the number of agents grows. We instead consider here a heterogeneous, leader-follower approach, which relies on three design stages. At a first stage, we derive transient controllers for cooperative control objectives in leader-follower networks; at a second stage, these controllers are employed in order to satisfy tasks given to the network as spatiotemporal logic specifications; and at a third stage, we tackle task dependencies and infeasibilities through a refinement process both in the transient control design as well as in the leader-follower group structure, by using notions of network controllability. The proposed leader-follower approach to the spatiotemporal task planning problem, combining elements from cooperative multi-agent systems under transient constraints, formal verification and graph theoretic network controllability, requires for new ways of thinking and approaches to analysis and design; it thus constitutes the proposal a beyond the SoA and groundbreaking approach to the fields of control, robotics and formal methods based synthesis.
Campo scientifico
Parole chiave
Programma(i)
Argomento(i)
Meccanismo di finanziamento
ERC-COG - Consolidator GrantIstituzione ospitante
100 44 Stockholm
Svezia