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Motion Planning of Multi-Agent Systems under Temporal Logic Specifications
KTH, School of Electrical Engineering (EES), Automatic Control.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis, a top-down hierarchical framework is proposed to deal with multiagentsymbolic motion planning and control. Agents are assigned a distributable globalmission, and are partitioned into leaders and followers. The global mission is distributedamong the followers and each one synthesizes a discrete motion plan. By exploitingthe concept of network controllability, an open-loop optimal control law is synthesizedcentrally and executed in a distributed manner. This control law guarantees the concurrentexecution and fulfillment of the followers’ discrete motion plans. Simulations areperformed to verify the proposed control law both for single- and multi-leader, leaderfollowernetworks.

Place, publisher, year, edition, pages
2015. , 44 p.
EES Examensarbete / Master Thesis, TRITA XR-EE-RT 2015:004
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-177640OAI: diva2:873844
Available from: 2015-11-25 Created: 2015-11-25 Last updated: 2015-11-25Bibliographically approved

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