论文标题
来自CATL+规格的强大多机构协调
Robust Multi-Agent Coordination from CaTL+ Specifications
论文作者
论文摘要
我们考虑控制满足时间逻辑要求所需的异质多机构系统的问题。最近提出了能力时间逻辑（CATL），以使这些规格形式化，以部署具有不同能力和合作要求的自主代理团队。在本文中，我们将CATL扩展到了新的逻辑CATL+，该逻辑CATL+比CATL更具表现力，并且在所有代理共享的连续工作空间上具有语义。我们为CATL+定义了两个新颖的鲁棒性指标：传统的鲁棒性和指数稳健性。后者是合理的，几乎到处都是可区分的，并消除了掩蔽，这是传统鲁棒性指标的主要局限性之一。我们制定一个控制综合问题，以最大化CATL+鲁棒性，并提出了解决此问题的两步优化方法。包括仿真结果，以说明CATL+的表现性的提高以及所提出的对照合成方法的功效。
We consider the problem of controlling a heterogeneous multi-agent system required to satisfy temporal logic requirements. Capability Temporal Logic (CaTL) was recently proposed to formalize such specifications for deploying a team of autonomous agents with different capabilities and cooperation requirements. In this paper, we extend CaTL to a new logic CaTL+, which is more expressive than CaTL and has semantics over a continuous workspace shared by all agents. We define two novel robustness metrics for CaTL+: the traditional robustness and the exponential robustness. The latter is sound, differentiable almost everywhere and eliminates masking, which is one of the main limitations of the traditional robustness metric. We formulate a control synthesis problem to maximize CaTL+ robustness and propose a two-step optimization method to solve this problem. Simulation results are included to illustrate the increased expressivity of CaTL+ and the efficacy of the proposed control synthesis approach.
