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Controller Synthesis and Verification for Multi-Agent Systems

Fulltext:


Authors:


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.mdh.se/publications/6250-}
}