Symbolic reach-avoid control of multi-agent systems
Rupak Majumdar, Kaushik Mallik, Mahmoud Salamati, Sadegh Soudjani, Mehrdad Zareian · 2021
We consider the decentralized controller synthesis problem for multi-agent systems with global reach-avoid specifications. Each agent is modeled as a nonlinear dynamical system with disturbances. The objective is to synthesize local feedback controllers that guarantee that the overall multi-agent system meets the global specification despite the influence of disturbances. On the one hand, existing techniques based on planning or trajectory optimization usually ignore the effects of disturbances and produce open-loop nominal trajectories that are not generally sufficient in the presence of disturbances. On the other hand, techniques based on formal synthesis, which guarantee satisfaction of temporal specifications, do not scale as the number of agents increases.