Motion Programs for Multi-Agent Control: From Specification to Execution
Egerstedt, Magnus B.
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This paper explores the process of turning high-level motion programs into executable control code for multi-agent systems. Specifically, we use a modified Motion Description Language (MDL) for networked systems that can specify motion programs for a collection of autonomous agents. This MDL includes the network information dependencies required for each agent to perform coordinated behaviors. We discuss the design of this framework and the language theoretic tools used to analyze the information dependencies specified by these multi-agent motion programs. Additionally, we develop a supervisor system that monitors the behavior of the agents on the network, and prevents the agents from entering into states where information dependencies are violated. We demonstrate our framework using a simulated multi-robot system.