Decentralized Robust Control of Coupled Multi-Agent Systems under Local Signal Temporal Logic Tasks

Abstract

Motivated by the recent interest in formal methods-based control of multi-agent systems, we adopt a bottom-up approach. Each agent is subject to a local signal temporal logic task that may depend on other agents behavior. These dependencies pose control challenges since some of the tasks may be opposed to each other. We first develop a local continuous feedback control law and identify conditions under which this control law guarantees satisfaction of the local tasks. If these conditions do not hold, we propose to use the developed control law in combination with an online detection & repair scheme, expressed as a local hybrid system. After detection of a critical event, a three-stage procedure is initiated to resolve the problem. The theoretical results are illustrated in simulations.