Graph Process Specifications for Hybrid Networked Systems
Egerstedt, Magnus B.
Twu, Philip Y.
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Research in multi-agent systems has supplied a diverse collection of decentralized controllers to accomplish specific tasks. When agents execute a sequence of these controllers, the network behaves as a hybrid system, where the dynamics in each mode evolve according to a single controller in the sequence. This paper presents a formal specification for such a system that describes the underlying graph process associated with the information flow amongst agents in each mode. Since many decentralized controllers require specific information graph topologies in order to function properly, a problem that arises is that the information graph at the termination of one mode may not be sufficient to initiate the next mode in the sequence.We propose a Graph Process Specification (GPS) framework that describes the graph process. Furthermore, if two modes cannot be executed consecutively, a GPS provides a way to determine which modes can be inserted in between them to make the resulting sequence executable. We formally define a GPS, describe its execution, and provide examples that showcase its usage in composing together multiple decentralized controllers within a multi-agent system.