论文标题
在TWTL规格下分散的安全反应计划
Decentralized Safe Reactive Planning under TWTL Specifications
论文作者
论文摘要
我们研究了一个多代理计划问题，每个代理商的目标是在避免与他人发生碰撞的同时完成个人任务。我们假设每个代理的任务都表示为在3D环境上定义的时间窗口时间逻辑（TWTL）规范。我们提出了一种用于在线轨迹计划的分散的退化的视野算法。我们表明，当环境足够连接时，产生的试剂轨迹始终是安全的（无碰撞），并导致TWTL规范或其有限的时间放松满意。因此，始终避免僵局，并确保每个代理在最坏的情况下都可以通过有限的时间延迟来安全地完成其任务。该算法的性能通过数值模拟和四型二次实验证明。
We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with others. We assume that each agent's task is expressed as a Time-Window Temporal Logic (TWTL) specification defined over a 3D environment. We propose a decentralized receding horizon algorithm for online planning of trajectories. We show that when the environment is sufficiently connected, the resulting agent trajectories are always safe (collision-free) and lead to the satisfaction of the TWTL specifications or their finite temporal relaxations. Accordingly, deadlocks are always avoided and each agent is guaranteed to safely achieve its task with a finite time-delay in the worst case. Performance of the proposed algorithm is demonstrated via numerical simulations and experiments with quadrotors.
