Motion Programs for Multi-Agent Control: From Specification to Execution

Martin, Patrick; Egerstedt, Magnus B.

Title:

Motion Programs for Multi-Agent Control: From Specification to Execution

dc.contributor.author	Martin, Patrick
dc.contributor.author	Egerstedt, Magnus B.
dc.contributor.corporatename	Georgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.date.accessioned	2011-04-12T18:52:28Z
dc.date.available	2011-04-12T18:52:28Z
dc.date.issued	2010-07
dc.description	Presented at the Mathematical Theory of Networks and Systems, Budapest, Hungary, July 2010.	en_US
dc.description.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.	en_US
dc.identifier.citation	P. Martin and M. Egerstedt. Motion Programs for Multi-Agent Control: From Specification to Execution. Mathematical Theory of Networks and Systems, Budapest, Hungary, July 2010.	en_US
dc.identifier.uri	http://hdl.handle.net/1853/38485
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.subject	Multi-agent control	en_US
dc.subject	Motion description languages	en_US
dc.subject	Multi-robot systems	en_US
dc.title	Motion Programs for Multi-Agent Control: From Specification to Execution	en_US
dc.type	Text
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.author	Egerstedt, Magnus B.
local.contributor.corporatename	School of Electrical and Computer Engineering
local.contributor.corporatename	College of Engineering
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