Probabilistic Tube-based Control Synthesis of Stochastic Multi-Agent Systems under Signal Temporal Logic
We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefined probability. By decomposing the dynamics into deterministic and error components, we construct a probabilistic reachable tube (PRT) as the Cartesian product of reachable sets of the individual error systems driven by disturbances lying in confidence regions (CRs) with a fixed probability. By bounding the PRT probability with the specification probability, we tighten all state constraints induced by the STL specification by solving tractable optimization problems over segments of the PRT, and relax the underlying stochastic problem with a deterministic one. This approach reduces conservatism compared to tightening guided by the STL structure. Additionally, we propose a recursively feasible algorithm to attack the resulting problem by decomposing it into agent-level subproblems, which are solved iteratively according to a scheduling policy. We demonstrate our method on a ten-agent system, where existing approaches are impractical.
Code (0)
등록된 구현이 없습니다.
Tasks
SchedulingSimilar Papers 제목 키워드 기반
Safety Verification of Nonlinear Stochastic Systems via Probabilistic Tube
We address the problem of safety verification for nonlinear stochastic systems, specifically the task of certifying that system trajectories remain within a safe set with high probability. To tackle this challenge, we ad…
Stochastic Model Predictive Control for Linear Systems with Unbounded Additive Uncertainties
This paper presents two stochastic model predictive control methods for linear time-invariant systems subject to unbounded additive uncertainties. The new methods are developed by formulating the chance constraints into …
Model Predictive ControlRisk-Aware Real-Time Task Allocation for Stochastic Multi-Agent Systems under STL Specifications
This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specificatio…
Autonomous DrivingModel Predictive ControlSpatiotemporal Tubes for Probabilistic Temporal Reach-Avoid-Stay Task in Uncertain Dynamic Environment
In this work, we extend the Spatiotemporal Tube (STT) framework to address Probabilistic Temporal Reach-Avoid-Stay (PrT-RAS) tasks in dynamic environments with uncertain obstacles. We develop a real-time tube synthesis p…
Data-driven tube-based stochastic predictive control
A powerful result from behavioral systems theory known as the fundamental lemma allows for predictive control akin to Model Predictive Control (MPC) for linear time invariant (LTI) systems with unknown dynamics purely fr…
LEMMAModel Predictive Control