Kernkonzepte
This paper proposes a novel approach for allocating signal temporal logic (STL) specifications to subgroups of agents in real-time and synthesizing control strategies for individual agents to satisfy the allocated specifications with probabilistic guarantees.
Zusammenfassung
The paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications. The key highlights are:
Decomposition of STL specifications into sub-specifications on the individual agent level to leverage the efficiency of task allocation.
A heuristic filter that evaluates potential task allocation based on STL robustness to determine the most promising agent-specification pairs.
An auctioning algorithm that determines the definitive allocation of specifications based on the local risk values of the agent-specification pairs.
A tube-based Model Predictive Control (MPC) strategy synthesized for each agent-specification pair, ensuring provable probabilistic satisfaction of the allocated specifications.
Demonstration of the proposed methods using a multi-bus scenario that highlights a promising extension to autonomous driving applications like crossing an intersection.