Probabilistic Control of Heterogeneous Swarms Subject to Graph Temporal Logic Specifications: A Decentralized and Scalable Approach
نویسندگان
چکیده
We develop a probabilistic control algorithm, GTLProCo , for swarms of agents with heterogeneous dynamics and objectives, subject to high-level task specifications. The resulting algorithm not only achieves decentralized the swarm but also significantly improves scalability over state-of-the-art existing algorithms. Specifically, we study setting in which move along nodes graph, specifications are expressed recently proposed language called graph temporal logic (GTL). By constraining distribution GTL can specify wide range properties, including safety, progress, response. computational complexity agnostic number comprising swarm, controls density manner. To this end, it synthesizes time-varying Markov chain modeling time evolution under constraints. first identify subset GTL, namely reach-avoid specifications, reduce synthesis such either linear or semidefinite programs. Then, general case, formulate as mixed-integer nonlinear program (MINLP). exploit structure problem provide an efficient sequential programming scheme trust regions solve MINLP. empirically demonstrate that our is at least three orders magnitude faster than off-the-shelf MINLP solvers illustrate effectiveness several scenarios.
منابع مشابه
Decentralized probabilistic density control of autonomous swarms with safety constraints
This paper presents a Markov chain based approach for the probabilistic density control of a large number, swarm, of autonomous agents. The proposed approach specifies the time evolution of the probabilistic density distribution by using a Markov chain, which guides the swarm to a desired steady-state distribution, while satisfying the prescribed ergodicity, motion, and safety constraints. This...
متن کاملa frame semantic approach to the study of translating cultural scripts in salingers franny and zooey
the frame semantic theory is a nascent approach in the area of translation studies which goes beyond the linguistic barriers and helps us to incorporate cognitive and cultural factors to the study of translation. based on rojos analytical model (2002b), which centered in the frames or knowledge structures activated in the text, the present research explores the various translation problems that...
15 صفحه اولthe aesthetic dimension of howard barkers art: a frankfurtian approach to scenes from an execution and no end of blame
رابطه ی میانِ هنر و شرایطِ اجتماعیِ زایش آن همواره در طولِ تاریخ دغدغه ی ذهنی و دل مشغولیِ اساسیِ منتقدان و نیز هنرمندان بوده است. از آنجا که هنر در قفس آهنیِ زندگیِ اجتماعی محبوس است، گسترش وابستگیِ آن با نهاد ها و اصولِ اجتماعی پیرامون، صرفِ نظر از هم سو بودن و یا غیرِ هم سو بودنِ آن نهاد ها، امری اجتناب ناپذیر به نظر می رسد. با این وجود پدیدار گشتنِ چنین مباحثِ حائز اهمییتی در میان منتقدین، با ظهورِ مکتب ما...
a synchronic and diachronic approach to the change route of address terms in the two recent centuries of persian language
terms of address as an important linguistics items provide valuable information about the interlocutors, their relationship and their circumstances. this study was done to investigate the change route of persian address terms in the two recent centuries including three historical periods of qajar, pahlavi and after the islamic revolution. data were extracted from a corpus consisting 24 novels w...
15 صفحه اولذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2023
ISSN: ['0018-9286', '1558-2523', '2334-3303']
DOI: https://doi.org/10.1109/tac.2022.3176797