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Synthesis of Minimum-Cost Shields for Multi-agent Systems

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conference contribution
posted on 19.05.2020, 12:23 by R Dimitrova, S Bharadwaj, R Bloem, B Könighofer, U Topcu
In this paper, we propose a general approach to derive runtime enforcement implementations for multiagent systems, called shields, from temporal logical specifications. Each agent of the multi-agent system is monitored, and if needed corrected, by the shield, such that a global specification is always satisfied. The different ways of how a shield can interfere with each agent in the system in case of an error introduces the need for quantitative objectives. This work is the first to discuss the shield synthesis problem with quantitative objectives. We provide several cost functions that are utilized in the multi-agent setting and provide methods for the synthesis of cost-optimal shields and fair shields, under the given assumptions on the multi-agent system. We demonstrate the applicability of our approach via a detailed case study on UAV mission planning for warehouse logistics and simulating the shielded multi-agent system on ROS/Gazebo.

Funding

This work was supported in part by grant DARPA W911NF-16-1-0001, grant AROW911NF-15-1-0592, and grant NSF 1652113.

History

Citation

2019 American Control Conference (ACC)

Author affiliation

/Organisation/COLLEGE OF SCIENCE AND ENGINEERING/Department of Informatics

Source

2019 American Control Conference (ACC)

Version

AM (Accepted Manuscript)

Published in

2019 American Control Conference (ACC)

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

eissn

2378-5861

isbn

978-1-5386-7926-5

Acceptance date

30/01/2019

Copyright date

2019

Available date

29/08/2019

Publisher version

https://ieeexplore.ieee.org/abstract/document/8815233

Spatial coverage

Philadelphia, PA, USA

Temporal coverage: start date

10/07/2019

Temporal coverage: end date

12/07/2019

Language

en

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