Reliable Task Decomposability for Cooperative Multi-agent Systems
(0) One of the challenging issues in control of multi-agent systems is top-down formal design through global task de-composition such that ful llment of local tasks result in satisfaction of the global speci cation.To tackle this problem,in our previous work,we proposed a divide-and-conquer approach,based on task automaton decomposition for two cooperative agents. The result proposed necessary and suf cient conditions under which a task automaton can be decomposed into its natural projec-tions such that the parallel composition of local task automata bisimulates the original task automaton.It was also shown that for a decomposable task automaton,satisfaction of local task automata leads to the satisfaction of the global task automaton.Subse-quently,this paper aims at investigating the task decomposability under failure to understand whether a previously decomposable task automaton can be still achieved by a team of two agents,in spite of some event failures.For this purpose,the result de nes a notion of called passivity for failed events that re ects the redundancy of shared events and transforms the decomposability under event failures to the standard task automaton decomposability problem.Given the passivity of failed events,it is proven that a decomposable task automaton remains decomposable under failures if and only if any decision on order or choice of failed events with respect to other events can be accommodated by at least one agent;cooperative tasking of agents does not allow illegal interleaving of strings,after failures,and event failures do not impose nondeterministic local tasks.Illustrative examples are presented to elaborate the decomposability conditions under event failures and nally it is proven that under the proposed conditions,the global task can be still achieved by the team,in spite of passive event failures.
KARIMADINI Mohammad LIN Hai
Department of Electrical and Computer Engineering,National University of Singapore,Singapore
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）