Abstract
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning and control of multi-agent systems under temporal logic tasks. The considered systems concern complex, robotic, manipulator-endowed systems, which can coordinate in order to execute complicated tasks, including object manipulation/transportation. Motivated by real-life scenarios, we take into account high-order dynamics subject to model uncertainties and unknown disturbances. Our approach is based on the integration of tools from the areas of multi-agent systems, intelligent control theory, cooperative object manipulation, discrete abstraction design of multi-agent-object systems, and formal verification. The first part of the thesis is devoted to the design of continuous control protocols for cooperative object manipulation/transportation by multiple robotic agents, and the relation of rigid cooperative manipulation schemes to multi-agent formation. In the second part of the thesis, we develop control schemes for the continuous coordination of multi-agent complex systems with uncertain dynamics, focusing on multi-agent navigation with collision specifications in obstacle-cluttered environments. The third part of the thesis is focused on the planning and control of multi-agent and multi-agent-object systems subject to complex tasks expressed as temporal logic formulas. The fourth and final part of the thesis focuses on several extension schemes for single-agent setups, such as motion planning under timed temporal tasks and asymptotic reference tracking for unknown systems while respecting funnel constraints.
Abstract (translated)
多智能体系统的控制和规划是一个活跃且日益研究的研究领域,有许多实际应用,如救援任务、安全、监控和运输。本论文探讨了在时间逻辑任务下对多智能体系统的规划和控制。考虑该系统涉及复杂的机器人系统,具有控制台的能力,可以协调以执行复杂的任务,包括物体操纵/运输。基于现实生活中的场景,我们考虑了高阶动力学,受到模型不确定性和未知干扰的影响。我们的方法是将多智能体系统、智能控制理论、合作物体操纵、多智能体对象系统的离散抽象设计以及形式验证集成在一起。论文第一部分致力于设计连续的控制协议,以多个机器人代理的合作物体操纵/运输为例,并探讨了坚固的合作操纵方案与多智能体形成的关联。在论文第二部分中,我们开发了控制方案,以连续协调多智能体复杂系统,重点探讨了在障碍物众多的环境中,多智能体的导航与碰撞预定义。论文第三部分专注于规划和控制多智能体和多智能体-对象系统,以满足复杂的任务以时间逻辑公式表达。论文第四部分专注于对单个代理设置的一些扩展方案,例如在时间逻辑任务下的Motion Planning和未知系统的接近参考跟踪,同时尊重漏斗约束。
URL
https://arxiv.org/abs/2303.01379
