A Formal Modular Synthesis Approach for the Coordination of Multi-Agent Systems

In this paper, we deal with the problem of coordinating multiple agents to accomplish a global task. This problem consists of a set of homogeneous agents that interact with each other in order to autonomously complete a common global task. Our approach is based on the Supervisory Control Theory and...

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Bibliographic Details
Main Authors: Rosa, Marcelo, Cury, José E.R., Baldissera, Fabio L.
Format: Conference Proceeding
Language:English
Subjects:
Local Synthesis
Multiple Agents
Supervisory Control Theory
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Summary:In this paper, we deal with the problem of coordinating multiple agents to accomplish a global task. This problem consists of a set of homogeneous agents that interact with each other in order to autonomously complete a common global task. Our approach is based on the Supervisory Control Theory and it derives conditions that allow us to synthesize a local supervisor from models that represent a single agent, its local control specifications and the global task in such a way that, when this supervisor is replicated for the other agents, the global task can be completed by the coordinated action of all agents.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2022.10.337