7 papers
Multi-Agent Temporal Logic Planning via Penalty Functions and Block-Coordinate Optimization
Eleftherios E. Vlahakis, Arash Bahari Kordabad, Lars Lindemann +3
Multi-agent planning under Signal Temporal Logic (STL) is often hindered by collaborative tasks that lead to computational challenges due to the inherent high dimensionality of the…
Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints (extended version)
Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis +1
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unli…
Conformal Data-driven Control of Stochastic Multi-Agent Systems under Collaborative Signal Temporal Logic Specifications
Eleftherios E. Vlahakis, Lars Lindemann, Dimos V. Dimarogonas
We address control synthesis of stochastic discrete-time linear multi-agent systems under jointly chance-constrained collaborative signal temporal logic specifications in a distrib…
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…
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…
Data-Driven Distributionally Robust Control for Interacting Agents under Logical Constraints
Arash Bahari Kordabad, Eleftherios E. Vlahakis, Lars Lindemann +3
In this paper, we propose a distributionally robust control synthesis for an agent with stochastic dynamics that interacts with other agents under uncertainties and constraints exp…