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arXiv · 2309.13499

Controller Synthesis of Collaborative Signal Temporal Logic Tasks for Multi-Agent Systems via Assume-Guarantee Contracts

Siyuan Liu·Adnane Saoud·Dimos V. Dimarogonas
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Abstract

This paper considers the problem of controller synthesis of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional framework based on continuous-time assume-guarantee contracts is developed to break the complex and large synthesis problem into subproblems of manageable sizes. We first show how to formulate the collaborative STL tasks as assume-guarantee contracts by leveraging the idea of funnel-based control. The concept of contracts is used to establish our compositionality result, which allows us to guarantee the satisfaction of a global contract by the multi-agent system when all agents satisfy their local contracts. Then, a closed-form continuous-time feedback controller is designed to enforce local contracts over the agents in a distributed manner, which further guarantees the global task satisfaction based on the compositionality result. Finally, the effectiveness of our results is demonstrated by two numerical examples.

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Siyuan Liu, Adnane Saoud, Dimos V. Dimarogonas. 2023-09-23. Controller Synthesis of Collaborative Signal Temporal Logic Tasks for Multi-Agent Systems via Assume-Guarantee Contracts. https://doi.org/10.1109/tac.2025.3549288

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