论文标题
用群体信号暂时逻辑的机器人群的分布式监视
Distributed Monitoring of Robot Swarms with Swarm Signal Temporal Logic
论文作者
论文摘要
在本文中，我们为机器人群开发了一个分布式的监视框架，以便代理可以监视机器人群的执行是否满足群信号的时间逻辑（SWARMSTL）公式。我们定义广义矩（GMS）来表示群体。提出了使用Kalman滤波器（KF）的动态广义矩共有算法（GMCA），以便每个代理都可以估算GMS。同样，我们获得了代理估计与实际GM之间误差的上限。该界限独立于代理的运动。我们还提出了监视Swarmstl时间和逻辑运算符的规则。结果，代理可以使用这些规则和估计误差的界限来监视群是否满足具有一定置信度的Swarmstl公式。分布式监视框架应用于一个群运输用品示例，在该示例中，我们还显示了卡尔曼滤波器在动态的广义力矩共识过程中的功效。
In this paper, we develop a distributed monitoring framework for robot swarms so that the agents can monitor whether the executions of robot swarms satisfy Swarm Signal Temporal Logic (SwarmSTL) formulas. We define generalized moments (GMs) to represent swarm features. A dynamic generalized moments consensus algorithm (GMCA) with Kalman filter (KF) is proposed so that each agent can estimate the GMs. Also, we obtain an upper bound for the error between an agent's estimate and the actual GMs. This bound is independent of the motion of the agents. We also propose rules for monitoring SwarmSTL temporal and logical operators. As a result, the agents can monitor whether the swarm satisfies SwarmSTL formulas with a certain confidence level using these rules and the bound of the estimation error. The distributed monitoring framework is applied to a swarm transporting supplies example, where we also show the efficacy of the Kalman filter in the dynamic generalized moments consensus process.
