Title:
Motion Programs for Multi-Agent Control: From Specification to Execution
Motion Programs for Multi-Agent Control: From Specification to Execution
Author(s)
Martin, Patrick
Egerstedt, Magnus B.
Egerstedt, Magnus B.
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Abstract
This paper explores the process of turning high-level
motion programs into executable control code for multi-agent
systems. Specifically, we use a modified Motion Description
Language (MDL) for networked systems that can specify
motion programs for a collection of autonomous agents. This MDL includes the network information dependencies required
for each agent to perform coordinated behaviors. We discuss
the design of this framework and the language theoretic tools
used to analyze the information dependencies specified by
these multi-agent motion programs. Additionally, we develop a
supervisor system that monitors the behavior of the agents on
the network, and prevents the agents from entering into states
where information dependencies are violated. We demonstrate
our framework using a simulated multi-robot system.
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Date Issued
2010-07
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Proceedings