Automatic Synthesis of Control for Multi-Agent Systems with Dynamic Constraints

Abstract

The paper solves the problem of automatic synthesis of a control system. The result of the control synthesis is a synthesizing control function that depends on the current state of the object and provides the optimal control with the best functional value from any initial point of some initial domain. A network operator method is used to solve the problem. We apply the proposed approach for control synthesis of a robotic team. The main challenge with such multi-agent mobile systems is to provide control meeting inter agent dynamic constraints. The method's performance is demonstrated through simulations on a team of two mobile robots performing a parking task.