论文标题
具有耦合动力学的多代理控制系统的有限地平线离散模型
Finite Horizon Discrete Models for Multi-Agent Control Systems with Coupled Dynamics
论文作者
论文摘要
本文的目的是以分散的方式获得耦合多代理系统的在线抽象。捕获每个代理的运动能力的离散模型是通过离散代理到达状态的相应过度应用来得出的。单个抽象的组成提供了地平线上耦合连续系统的正确表示，并呈现适合控制在高级规格下的控制合成的方法，这些方法在此时间窗口中分配给了代理。还为空间和时间离散化提供了足够的条件，以确保具有可调过渡功能的确定性抽象的推导。
The goal of this paper is to obtain online abstractions for coupled multi-agent systems in a decentralized manner. A discrete model which captures the motion capabilities of each agent is derived over a bounded time-horizon, by discretizing a corresponding overapproximation of the agent's reachable states. The individual abstractions' composition provides a correct representation of the coupled continuous system over the horizon and renders the approach appropriate for control synthesis under high-level specifications which are assigned to the agents over this time window. Sufficient conditions are also provided for the space and time discretization to guarantee the derivation of deterministic abstractions with tunable transition capabilities.
