From High-Level Task Specifications to Geometric Control via Lyapunov Abstractions
Abstract
The goal of this research project is to narrow the existing gap betweenhigh-level discrete task planning and low-level continuous control in complex multi-agent missions within acontrol-theoretic framework. We introduce the concept of a Lyapunov abstraction to enable the definitionof a consistent mapping between high-level specifications and low-level control commands. A Lyapunovabstraction serves as a system model that by construction satisfies both the low-level dynamics and the highlevelgoals, i.e., that captures the dynamics, tasks and interactions of a single agent with its environment,and is used as the unit element in the bottom-up composition of a hybrid system encoding the multi-agentmission. The Lyapunov abstractions we propose here are composed of high-level Lyapunov-like barrierfunctions (barriers) capturing high-level specifications and interactions among agents, and low-level geometricflows capturing feasible system trajectories. The main idea lies on the pairing of a Lyapunov-likebarrier function and a geometric flow using notions and tools from geometric control and dynamical systemstheory. The proposed method offers a reactive motion planning, decision-making and control designmechanism that is scalable with the number of agents and tasks, and thus applicable to large-scale systemsinvolving hundreds of agents.The expected research outcomes will advance knowledge and the state-of-the-art in real-time planning,decision making and control in situations involving multiple autonomous and semi-autonomous agents. Theproposed methods will allow safety-critical and time-critical missions to be carried out with minimal humansupervision and minimal effort on planning and coordinating the mission. This will increase the situationalawareness and readiness of the Air Force personnel and will provide better means to implement strategiesand tactics in unknown, uncertain environments.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Sep 11, 2017
- Source ID
- FA95501710284
Entities
People
- Dimitra Panagou
Organizations
- Air Force Office of Scientific Research
- United States Air Force
- University of Michigan