Temporal logic and applications: a tutorial
Computer Networks and ISDN Systems - Special issue on protocol specification, testing and verification
Constructing automata from temporal logic formulas: a tutorial
Lectures on formal methods and performance analysis
Cooperative Multiagent Systems: A Personal View of the State of the Art
IEEE Transactions on Knowledge and Data Engineering
Decompositions of Asynchronous Systems
CONCUR '98 Proceedings of the 9th International Conference on Concurrency Theory
Top-down vs bottom-up methodologies in multi-agent system design
Autonomous Robots
Temporal logic motion planning for dynamic robots
Automatica (Journal of IFAC)
Multi-agent team cooperation: A game theory approach
Automatica (Journal of IFAC)
Distributed learning and cooperative control for multi-agent systems
Automatica (Journal of IFAC)
Brief paper: Interconnection topologies for multi-agent coordination under leader-follower framework
Automatica (Journal of IFAC)
Automatic deployment of distributed teams of robots from temporal logic motion specifications
IEEE Transactions on Robotics
Introduction to Discrete Event Systems
Introduction to Discrete Event Systems
Technical communique: Bisimilarity enforcing supervisory control for deterministic specifications
Automatica (Journal of IFAC)
| Hi-index | 22.15 |
It is an amazing fact that remarkably complex behaviors could emerge from a large collection of very rudimentary dynamical agents through very simple local interactions. However, it still remains elusive on how to design these local interactions among agents so as to achieve certain desired collective behaviors. This paper aims to tackle this challenge and proposes a divide-and-conquer approach to guarantee specified global behaviors through local coordination and control design for multi-agent systems. The basic idea is to decompose the requested global specification into subtasks for each individual agent in such a way that the fulfillment of these subtasks by each individual agent will imply the satisfaction of the global specification as a team. First, it is shown by a counterexample that not all specifications can be decomposed in this sense. Then, the main part of the paper is set to identify conditions for the proposed decomposability. Later on, the result is generalized to the case of arbitrary finite number of agents, and a hierarchical algorithm is proposed, which is shown to be a sufficient condition. Finally, a cooperative control scenario for a team of three robots is developed to illustrate the task decomposition procedure.