You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at http://www.ieee.org/web/publications/rights/copyrightpolicy.html)
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at http://www.acm.org/pubs/copyright_policy/)
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact webmaster@ide.mdh.se

Controller Synthesis and Verification for Multi-Agent Systems

Fulltext:


Authors:

Rong Gu

Research group:

Formal Modelling and Analysis of Embedded Systems

Publication Type:

Report - MRTC

Publisher:

Mälardalen Real-Time Research Centre, Mälardalen University

ISRN:

MDH-MRTC-337/2020-1-SE

Abstract

Controller synthesis and verification are crucial in the design of Multi-Agent Systems (MAS), as the controller serves as the brain of the autonomous systems, which are often safety- and mission-critical. In this study, we propose a two-layer framework for formal modeling and verification of MAS. The static layer of the framework focuses on mission planning that involves path planning and task scheduling, whereas the dynamic layer of the framework focuses on the mission execution, where the continuous motion of the agents, the uncertain occurrence of moving obstacles, and the design details of the embedded control systems are considered. Specifically, the framework adopts timed automata and reinforcement learning for mission planning, and hybrid automata, stochastic timed automata, and statistical model checking for mission execution and collision avoidance. The method of scalable mission-plan synthesis is implemented as a tool called TAMAA, which also provides GUI for mission and environment configuration. This approach and tool are evaluated in an industrial use case: autonomous quarry that is provided by VOLVO CE, Sweden.

Bibtex

@techreport{Gu6250,
author = {Rong Gu},
title = {Controller Synthesis and Verification for Multi-Agent Systems},
month = {July},
year = {2020},
publisher = {M{\"a}lardalen Real-Time Research Centre, M{\"a}lardalen University},
url = {http://www.es.mdu.se/publications/6250-}
}