Motion Programs for Multi-Agent Control: From Specification to ExecutionReport as inadecuate


Motion Programs for Multi-Agent Control: From Specification to Execution


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This paper explores the process of turning high-levelmotion programs into executable control code for multi-agentsystems. Specifically, we use a modified Motion DescriptionLanguage MDL for networked systems that can specifymotion programs for a collection of autonomous agents. This MDL includes the network information dependencies requiredfor each agent to perform coordinated behaviors. We discussthe design of this framework and the language theoretic toolsused to analyze the information dependencies specified bythese multi-agent motion programs. Additionally, we develop asupervisor system that monitors the behavior of the agents onthe network, and prevents the agents from entering into stateswhere information dependencies are violated. We demonstrateour framework using a simulated multi-robot system.



Georgia Robotics and InTelligent Systems Laboratory GRITS - Georgia Robotics and InTelligent Systems Laboratory GRITS Publications -



Author: Martin, Patrick - Egerstedt, Magnus B. - -

Source: https://smartech.gatech.edu/







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