TY - GEN
T1 - Formal specification of continuum deformation coordination
AU - Rastgoftar, Hossein
AU - Jeannin, Jean Baptiste
AU - Atkins, Ella
N1 - Publisher Copyright:
© 2019 American Automatic Control Council.
PY - 2019/7
Y1 - 2019/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85072277167&partnerID=8YFLogxK
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U2 - 10.23919/acc.2019.8814645
DO - 10.23919/acc.2019.8814645
M3 - Conference contribution
AN - SCOPUS:85072277167
T3 - Proceedings of the American Control Conference
SP - 3358
EP - 3363
BT - 2019 American Control Conference, ACC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 American Control Conference, ACC 2019
Y2 - 10 July 2019 through 12 July 2019
ER -