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arXiv · 2206.01833

Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution

Michael Enqi Cao·Jonas Warnke·Yunhai Han·Xinpei Ni·Ye Zhao·Samuel Coogan
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Abstract

In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built upon temporal-logic-based reactive synthesis to guarantee safety and task completion under specific environment assumptions. In heterogeneous multi-agent systems, every agent is expected to complete its own tasks in service of a global team objective. However, at runtime, an agent may encounter un-modeled obstacles (e.g., doors or walls) that prevent it from achieving its own task. To address this problem, we employ the capabilities of other heterogeneous agents to resolve the obstacle. A controller framework is proposed to redirect agents with the capability of resolving the appropriate obstacles to the required target when such a situation is detected. Three case studies involving a bipedal robot Digit and a quadcopter are used to evaluate the controller performance in action. Additionally, we implement the proposed framework on a physical multi-agent robotic system to demonstrate its viability for real world applications.

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Michael Enqi Cao, Jonas Warnke, Yunhai Han, Xinpei Ni, Ye Zhao, Samuel Coogan. 2022-09-01. Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution. https://arxiv.org/abs/2206.01833

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