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Modeling and control of heterogeneous non-holonomic input-constrained multiagent systems

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dc.contributor.author Oikonomopoulos, AS en
dc.contributor.author Kyriakopoulos, KJ en
dc.contributor.author Loizou, SG en
dc.date.accessioned 2014-03-01T02:46:52Z
dc.date.available 2014-03-01T02:46:52Z
dc.date.issued 2010 en
dc.identifier.issn 01912216 en
dc.identifier.uri http://hdl.handle.net/123456789/32907
dc.subject Case Study en
dc.subject Formal Verification en
dc.subject Input Constraint en
dc.subject Linear Temporal Logic en
dc.subject multiagent system en
dc.subject Satisfiability en
dc.subject Three Dimensional en
dc.subject Timed Automata en
dc.subject Multi Agent System en
dc.subject.other Case-studies en
dc.subject.other Developed model en
dc.subject.other Formal verification tools en
dc.subject.other Guided search en
dc.subject.other Hexagonal prism en
dc.subject.other Input constraints en
dc.subject.other Linear temporal logic specifications en
dc.subject.other Liveness properties en
dc.subject.other Low level en
dc.subject.other Modeling and control en
dc.subject.other Modeling frameworks en
dc.subject.other Motion primitives en
dc.subject.other Non-homogeneous en
dc.subject.other Nonholonomics en
dc.subject.other Spatio-temporal en
dc.subject.other Three dimensional space en
dc.subject.other Timed Automata en
dc.subject.other Abstracting en
dc.subject.other Intelligent agents en
dc.subject.other Multi agent systems en
dc.subject.other Specifications en
dc.subject.other Temporal logic en
dc.subject.other Three dimensional en
dc.subject.other Mathematical models en
dc.title Modeling and control of heterogeneous non-holonomic input-constrained multiagent systems en
heal.type conferenceItem en
heal.identifier.primary 10.1109/CDC.2010.5717919 en
heal.identifier.secondary http://dx.doi.org/10.1109/CDC.2010.5717919 en
heal.identifier.secondary 5717919 en
heal.publicationDate 2010 en
heal.abstract Motivated primarily by the problem of UAV coordination, in this paper we address the problem of coordination of a non-homogeneous group of non-holonomic agents with input constraints. In the first part of the paper, we develop a modeling framework for heterogeneous multi-agent systems that is based on timed automata. To this extent, an appropriate abstraction of the agents' workspace from our previous works is extended to three-dimensional space, by utilizing hexagonal prisms. The low level agent details are abstracted by virtue of appropriate controllers to motion primitives that can be performed in the individual workspace cells. The resulting models of the non-homogeneous system capture the non-holonomic behavior and the input constraints imposed by the considered systems. In the second part of this paper, we use the developed models in conjunction with formal verification tools to verify the safety and liveness properties of the system, captured by Linear Temporal Logic (LTL) specifications. Using counter-example guided search, we obtain trajectories that satisfy spatio-temporal specifications. Finally, we simulate two case-studies for two and three-dimensional workspaces respectively. ©2010 IEEE. en
heal.journalName Proceedings of the IEEE Conference on Decision and Control en
dc.identifier.doi 10.1109/CDC.2010.5717919 en
dc.identifier.spage 4204 en
dc.identifier.epage 4209 en


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