Multi-agent Motion Planning from Signal Temporal Logic Specifications

01/13/2022
by   Dawei Sun, et al.
0

We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion planning, especially those based on discrete abstractions and model predictive control (MPC), suffer from limited scalability with respect to the complexity of the task, the size of the workspace, and the planning horizon. We present a method based on timed waypoints to address this issue. We show that timed waypoints can help abstract nonlinear behaviors of the system as safety envelopes around the reference path defined by those waypoints. Then the search for waypoints satisfying the STL specifications can be inductively encoded as a mixed-integer linear program. The agents following the synthesized timed waypoints have their tasks automatically allocated, and are guaranteed to satisfy the STL specifications while avoiding collisions. We evaluate the algorithm on a wide variety of benchmarks. Results show that it supports multi-agent planning from complex specification over long planning horizons, and significantly outperforms state-of-the-art abstraction-based and MPC-based motion planning methods. The implementation is available at https://github.com/sundw2014/STLPlanning.

READ FULL TEXT

page 1

page 7

research
05/29/2017

Distributed Communication-aware Motion Planning for Multi-agent Systems from STL and SpaTeL Specifications

In future intelligent transportation systems, networked vehicles coordin...
research
01/18/2023

Temporal Logic Motion Planning with Convex Optimization via Graphs of Convex Sets

Temporal logic is a concise way of specifying complex tasks. But motion ...
research
03/03/2022

Robust Counterexample-guided Optimization for Planning from Differentiable Temporal Logic

Signal temporal logic (STL) provides a powerful, flexible framework for ...
research
09/20/2017

Decomposing GR(1) Games with Singleton Liveness Guarantees for Efficient Synthesis

Temporal logic based synthesis approaches are often used to find traject...
research
12/16/2020

Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances

We present a scalable and effective multi-agent safe motion planner that...
research
03/02/2023

Planning and Control of Uncertain Cooperative Mobile Manipulator-Endowed Systems under Temporal-Logic Tasks

Control and planning of multi-agent systems is an active and increasingl...

Please sign up or login with your details

Forgot password? Click here to reset