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A Reactive Redistribution Mechanism for STL Tasks in Multi-Agent Systems Under Time-Varying Communication
Gregorio Marchesini, Bjarne Jan Jesse Moro, Siyuan Liu +2
We present a communication-aware task decomposition framework for multi-agent systems with collaborative relative configuration objectives specified in Signal Temporal Logic (STL),…
Observer-based Control of Multi-agent Systems under STL Specifications
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
This paper proposes a decentralized controller for large-scale heterogeneous multi-agent systems subject to bounded external disturbances, where agents must satisfy Signal Temporal…
Robust Estimation and Control for Heterogeneous Multi-agent Systems Based on Decentralized k-hop Prescribed Performance Observers
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
We propose decentralized k-hop Prescribed Performance State and Input Observers for heterogeneous multi-agent systems subject to bounded external disturbances. In the proposed inpu…
Correct-by-Design Control Synthesis of Stochastic Multi-agent Systems: a Robust Tensor-based Solution
Ruohan Wang, Siyuan Liu, Zhiyong Sun +1
Discrete-time stochastic systems with continuous spaces are hard to verify and control, even with MDP abstractions due to the curse of dimensionality. We propose an abstraction-bas…
Sampling-Based Planning Under STL Specifications: A Forward Invariance Approach
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We propose a variant of the Rapidly Exploring Random Tree Star (RRT) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a…
Communication-aware Multi-agent Systems Control Based on -hop Distributed Observers
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In…
A Communication Consistent Approach to Signal Temporal Logic Task Decomposition in Multi-Agent Systems
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited…
Decentralized Control of Multi-Agent Systems Under Acyclic Spatio-Temporal Task Dependencies
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifica…
Communication-Constrained STL Task Decomposition through Convex Optimization
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
In this work, we propose a method to decompose signal temporal logic (STL) tasks for multi-agent systems subject to constraints imposed by the communication graph. Specifically, we…