文章基本信息

标题：Distributed Multi-Agent Persistent Surveillance Under Temporal Logic Constraints ∗
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作者：Derya Aksaray ; Kevin Leahy ; Calin Belta 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：22
页码：174-179
DOI：10.1016/j.ifacol.2015.10.326
语种：English
出版社：Elsevier
摘要：AbstractWe consider the problem of finding optimal agent trajectories for persistent surveillance missions subject to temporal logic (TL) constraints. Specifically, we aim to minimize the time between two consecutive visits to regions of interest in a partitioned environment while satisfying each agent's TL specification. We formulate a distributed optimization problem, where each agent plans its trajectory based only on local information. We use a formal methods approach to show that any trajectory resulting from the proposed controller satisfies the corresponding TL constraints. The results are illustrated through simulations by comparing the proposed strategy with a joint planner and a planner without communication.
关键词：KeywordsDistributed controlformal methodsautonomous vehicles