Formal specification of continuum deformation coordination

Hossein Rastgoftar, Jean Baptiste Jeannin, Ella Atkins

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Continuum deformation is a leader-follower multiagent cooperative control approach. Previous work showed a desired continuum deformation can be uniquely defined based on trajectories of d+1 leaders in a d-dimensional motion space and acquired by followers through local inter-agent communication. This paper formally specifies continuum deformation coordination in an obstacle-laden environment. Using linear temporal logic (LTL), continuum deformation liveness and safety requirements are defined. Safety is prescribed by providing conditions on (i) agent deviation bound, (ii) inter-agent collision avoidance, (iii) agent containment, (iv) motion space containment, and (v) obstacle collision avoidance. Liveness specifies a reachability condition on the desired final formation.

Original languageEnglish (US)
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3358-3363
Number of pages6
ISBN (Electronic)9781538679265
DOIs
StatePublished - Jul 2019
Externally publishedYes
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
Volume2019-July
ISSN (Print)0743-1619

Conference

Conference2019 American Control Conference, ACC 2019
Country/TerritoryUnited States
CityPhiladelphia
Period7/10/197/12/19

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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