论文标题
异质团队的时间逻辑规格的快速分解
Fast Decomposition of Temporal Logic Specifications for Heterogeneous Teams
论文作者
论文摘要
在这项工作中,我们专注于将大型的多代理路径计划问题与全球时间逻辑目标(所有代理人共同)分解为可以独立解决和执行的较小子问题。至关重要的是,子问题的解决方案必须共同满足共同的全球任务规范。代理的任务作为时间逻辑(CATL)公式(信号时间逻辑的片段)给出,可以在严格的定时约束下对涉及多个试剂能力(例如,摄像机,IR和效应器,例如,轮毂,飞行,飞行,飞行器)的任务表达属性。我们采用的方法是分解时间逻辑规范和代理团队。我们共同考虑使用可满足模型理论(SMT)方法将代理分配给子程序和公式的分解。然后将SMT的输出分布到子接头,并在计划时间内提高速度。我们包括计算结果,以评估解决方案的效率以及SMT编码的保守性质所引入的权衡。
In this work, we focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems' solutions must jointly satisfy the common global mission specification. The agents' missions are given as Capability Temporal Logic (CaTL) formulas, a fragment of signal temporal logic, that can express properties over tasks involving multiple agent capabilities (sensors, e.g., camera, IR, and effectors, e.g., wheeled, flying, manipulators) under strict timing constraints. The approach we take is to decompose both the temporal logic specification and the team of agents. We jointly reason about the assignment of agents to subteams and the decomposition of formulas using a satisfiability modulo theories (SMT) approach. The output of the SMT is then distributed to subteams and leads to a significant speed up in planning time. We include computational results to evaluate the efficiency of our solution, as well as the trade-offs introduced by the conservative nature of the SMT encoding.