Automated Formation Control Synthesis from Temporal Logic Specifications

by   Shuhao Qi, et al.

In this paper, we propose a novel framework using formal methods to synthesize a navigation control strategy for a multi-robot swarm system with automated formation. The main objective of the problem is to navigate the robot swarm toward a goal position while passing a series of waypoints. The formation of the robot swarm should be changed according to the terrain restrictions around the corresponding waypoint. Also, the motion of the robots should always satisfy certain runtime safety requirements, such as avoiding collision with other robots and obstacles. We prescribe the desired waypoints and formation for the robot swarm using a temporal logic (TL) specification. Then, we formulate the transition of the waypoints and the formation as a deterministic finite transition system (DFTS) and synthesize a control strategy subject to the TL specification. Meanwhile, the runtime safety requirements are encoded using control barrier functions, and fixed-time control Lyapunov functions ensure fixed-time convergence. A quadratic program (QP) problem is solved to refine the DFTS control strategy to generate the control inputs for the robots, such that both TL specifications and runtime safety requirements are satisfied simultaneously. This work enlights a novel solution for multi-robot systems with complicated task specifications. The efficacy of the proposed framework is validated with a simulation study.


Leaderless Swarm Formation Control: From Global Specifications to Local Control Laws

This paper introduces a distributed leaderless swarm formation control f...

Reactive Control Meets Runtime Verification: A Case Study of Navigation

This paper presents an application of specification based runtime verifi...

Formation control with connectivity assurance for missile swarm: a natural co-evolutionary strategy approach

Formation control problem is one of the most concerned topics within the...

Control Of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications

In this paper, we propose a framework for the control of mobile robots s...

Hierarchical Multi-robot Strategies Synthesis and Optimization under Individual and Collaborative Temporal Logic Specifications

This paper presents a hierarchical framework to solve the multi-robot te...

Synthesis of Shared Control Protocols with Provable Safety and Performance Guarantees

We formalize synthesis of shared control protocols with correctness guar...

Swarming of Aerial Robots with Markov Random Field Optimization

Swarms are highly robust systems that offer unique benefits compared to ...

Please sign up or login with your details

Forgot password? Click here to reset