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

Oikonomopoulos, AS; Kyriakopoulos, KJ; Loizou, SG

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	https://dspace.lib.ntua.gr/xmlui/handle/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