Finite Horizon Discrete Models for Multi-Agent Control Systems with Coupled Dynamics

TL;DR

This paper develops a method to create online, discrete models for multi-agent systems with coupled dynamics, enabling decentralized control synthesis over finite horizons.

Contribution

It introduces a novel approach to derive finite-horizon discrete abstractions for coupled multi-agent systems in a decentralized manner.

Findings

Provides conditions for space and time discretization guaranteeing deterministic abstractions.

Ensures the abstraction accurately represents the coupled system over the specified horizon.

Facilitates control synthesis for multi-agent systems with high-level specifications.

Abstract

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.