Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks

Chang Tian; Yan Yang; Zhongjiao Shi; Zhijie Liu

doi:10.1109/ICUS58632.2023.10318368

Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks

Chang Tian, Yan Yang, Zhongjiao Shi, Zhijie Liu^*

^*此作品的通讯作者

宇航学院

University of Science and Technology Beijing

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

Motivated by the recent work about signal temporal logic and control barrier functions, we try to study the problem of multi-agent planning with control barrier functions under signal temporal logic tasks. Through the use of navigation functions, we possess the ability to precisely describe the workspace. Then we combine these functions with more information such as time limits to build control barrier navigation functions. Finally we design a coupled controller to realize the communication and path planning between multi-agents with high efficiency. In addition, this approach can also handle simple deadlocks.

源语言	英语
主期刊名	Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
编辑	Rong Song
出版商	Institute of Electrical and Electronics Engineers Inc.
页	357-362
页数	6
ISBN（电子版）	9798350316308
DOI	https://doi.org/10.1109/ICUS58632.2023.10318368
出版状态	已出版 - 2023
活动	2023 IEEE International Conference on Unmanned Systems, ICUS 2023 - Hefei, 中国期限: 13 10月 2023 → 15 10月 2023

出版系列

姓名	Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

会议

会议	2023 IEEE International Conference on Unmanned Systems, ICUS 2023
国家/地区	中国
市	Hefei
时期	13/10/23 → 15/10/23

访问文件

10.1109/ICUS58632.2023.10318368

其它文件与链接

链接到 Scopus 的出版物

引用此

Tian, C., Yang, Y., Shi, Z., & Liu, Z. (2023). Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks. 在 R. Song (编辑), Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023 (页码 357-362). (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS58632.2023.10318368

Tian, Chang ; Yang, Yan ; Shi, Zhongjiao 等. / Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks. Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. 编辑 / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2023. 页码 357-362 (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023).

@inproceedings{93401384cece4602b2799a88f59c6ad4,

title = "Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks",

abstract = "Motivated by the recent work about signal temporal logic and control barrier functions, we try to study the problem of multi-agent planning with control barrier functions under signal temporal logic tasks. Through the use of navigation functions, we possess the ability to precisely describe the workspace. Then we combine these functions with more information such as time limits to build control barrier navigation functions. Finally we design a coupled controller to realize the communication and path planning between multi-agents with high efficiency. In addition, this approach can also handle simple deadlocks.",

keywords = "control barrier navigation function, multi-agent, planning, signal temporal logic",

author = "Chang Tian and Yan Yang and Zhongjiao Shi and Zhijie Liu",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Unmanned Systems, ICUS 2023 ; Conference date: 13-10-2023 Through 15-10-2023",

year = "2023",

doi = "10.1109/ICUS58632.2023.10318368",

language = "English",

series = "Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "357--362",

editor = "Rong Song",

booktitle = "Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023",

address = "United States",

}

Tian, C, Yang, Y, Shi, Z & Liu, Z 2023, Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks. 在 R Song (编辑), Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023, Institute of Electrical and Electronics Engineers Inc., 页码 357-362, 2023 IEEE International Conference on Unmanned Systems, ICUS 2023, Hefei, 中国, 13/10/23. https://doi.org/10.1109/ICUS58632.2023.10318368

Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks. / Tian, Chang; Yang, Yan; Shi, Zhongjiao 等.
Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. 编辑 / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2023. 页码 357-362 (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks

AU - Tian, Chang

AU - Yang, Yan

AU - Shi, Zhongjiao

AU - Liu, Zhijie

PY - 2023

Y1 - 2023

N2 - Motivated by the recent work about signal temporal logic and control barrier functions, we try to study the problem of multi-agent planning with control barrier functions under signal temporal logic tasks. Through the use of navigation functions, we possess the ability to precisely describe the workspace. Then we combine these functions with more information such as time limits to build control barrier navigation functions. Finally we design a coupled controller to realize the communication and path planning between multi-agents with high efficiency. In addition, this approach can also handle simple deadlocks.

AB - Motivated by the recent work about signal temporal logic and control barrier functions, we try to study the problem of multi-agent planning with control barrier functions under signal temporal logic tasks. Through the use of navigation functions, we possess the ability to precisely describe the workspace. Then we combine these functions with more information such as time limits to build control barrier navigation functions. Finally we design a coupled controller to realize the communication and path planning between multi-agents with high efficiency. In addition, this approach can also handle simple deadlocks.

KW - control barrier navigation function

KW - multi-agent

KW - planning

KW - signal temporal logic

UR - http://www.scopus.com/inward/record.url?scp=85180131463&partnerID=8YFLogxK

U2 - 10.1109/ICUS58632.2023.10318368

DO - 10.1109/ICUS58632.2023.10318368

M3 - Conference contribution

AN - SCOPUS:85180131463

T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

SP - 357

EP - 362

BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

A2 - Song, Rong

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

Y2 - 13 October 2023 through 15 October 2023

ER -

Tian C, Yang Y, Shi Z, Liu Z. Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks. 在 Song R, 编辑, Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. Institute of Electrical and Electronics Engineers Inc. 2023. 页码 357-362. (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023). doi: 10.1109/ICUS58632.2023.10318368

Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks

摘要

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