Barrier Functions for Multiagent-POMDPs with DTL Specifications
Abstract
Multi-agent partially observable Markov decision processes (MPOMDPs) provide a framework to represent heterogeneous autonomous agents subject to uncertainty and partial observation. In this paper, given a nominal policy provided by a human operator or a conventional planning method, we propose a technique based on barrier functions to design a minimally interfering safety-shield ensuring satisfaction of high-level specifications in terms of linear distribution temporal logic (LDTL). To this end, we use sufficient and necessary conditions for the invariance of a given set based on discrete-time barrier functions (DTBFs) and formulate sufficient conditions for finite time DTBF to study finite time convergence to a set. We then show that different LDTL mission/safety specifications can be cast as a set of invariance or finite time reachability problems. We demonstrate that the proposed method for safety-shield synthesis can be implemented online by a sequence of one-step greedy algorithms. We demonstrate the efficacy of the proposed method using experiments involving a team of robots.
- Publication:
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arXiv e-prints
- Pub Date:
- March 2020
- DOI:
- 10.48550/arXiv.2003.09267
- arXiv:
- arXiv:2003.09267
- Bibcode:
- 2020arXiv200309267A
- Keywords:
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- Electrical Engineering and Systems Science - Systems and Control;
- Computer Science - Multiagent Systems;
- Computer Science - Robotics;
- Mathematics - Optimization and Control
- E-Print:
- arXiv admin note: text overlap with arXiv:1903.07823