论文标题
在多代理系统中利用异构功能解决环境冲突解决方案
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution
论文作者
论文摘要
在本文中，我们介绍了一个高级控制器合成框架，该框架使异构代理团队能够相互协助解决在运行时出现的环境冲突。这种冲突解决方法建立在基于时间逻辑的反应性综合上，以确保在特定环境假设下的安全性和任务完成。在异质的多机构系统中，预计每个代理都将完成自己的任务，以服务全球团队的目标。但是，在运行时，代理商可能会遇到未建模的障碍物（例如门或墙壁），以阻止其完成自己的任务。为了解决这个问题，我们采用了其他异质代理的能力来解决障碍。提出了一个控制器框架，以在检测到这种情况时将适当的障碍物解决到所需目标的能力重定向。三个涉及双皮亚机器人数字和四轮驱动器的案例研究用于评估在作用中的控制器性能。此外，我们在物理多代理机器人系统上实施了拟议的框架，以证明其对现实世界应用的可行性。
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built upon temporal-logic-based reactive synthesis to guarantee safety and task completion under specific environment assumptions. In heterogeneous multi-agent systems, every agent is expected to complete its own tasks in service of a global team objective. However, at runtime, an agent may encounter un-modeled obstacles (e.g., doors or walls) that prevent it from achieving its own task. To address this problem, we employ the capabilities of other heterogeneous agents to resolve the obstacle. A controller framework is proposed to redirect agents with the capability of resolving the appropriate obstacles to the required target when such a situation is detected. Three case studies involving a bipedal robot Digit and a quadcopter are used to evaluate the controller performance in action. Additionally, we implement the proposed framework on a physical multi-agent robotic system to demonstrate its viability for real world applications.
