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Controller Synthesis for Multi-Agent Systems with Intermittent Communication and Metric Temporal Logic Specifications
- Citation Author(s):
- Submitted by:
- nasim baharisangari
- Last updated:
- Sun, 07/02/2023 - 18:12
- DOI:
- 10.21227/csak-yt44
- License:
36 Views- Categories:
- Keywords:
Abstract
This dataset contains the synthetic data for motion planning of a relay-explorer multiagent system in three different scenarios. In this multi-agent system, we have one relay agent and three explorers where the relay agent switches between the explorers to provide them with intermittent state feedback while the relay agent carries out practical tasks such as reaching a charging station. For each scenario, we provide the data for the control effort of the relay agent, the estimated difference between the actual position of an explorer and its estimated position, the estimated difference between the estimated position of an explorer and the target position, and the path that the relay agent and the explorers take until all the explorers reach the target.
This zip file contains three folders corresponding to three different scenarios. Here, the datasets in folder “Scenario1” are explained as an illustrative example. The files in the other folders follow the same pattern. In each scenario, we have three explorers and one relay agent.
In Folder “Sncenario1”, there are four different plots including the paths that the agents take “Plan1”, the estimated difference between the actual position of an explorer and its estimated position “e1_1”, the estimated difference between the estimated position of an explorer and the target position “e2_1”, and the control effort of the relay agent “u1”.
The Excel files related to “Plan1” are agt_1_plan_1_25, agt_2_plan_1_25, agt_3_plan_1_25, and lead_plan_1_25. Each file contains two rows of numeric values associated with the x and y axes, respectively.
The Excel files related to “e1_1” are e1_1_plan_1_25, e1_2_plan_1_25, and e1_3_plan_1_25. Each file contains two rows of numeric values associated with the time and error axes, respectively.
The Excel files related to “e2_1” are e2_1_plan_1_25, e2_2_plan_1_25, and e2_3_plan_1_25. Each file contains two rows of numeric values associated with the time and error axes, respectively.
The Excel files related to “u1” are u0_1_plan_1_25, u0_2_plan_1_25, u0_3_plan_1_25, and u0_4_plan_1_25. The relay agent is modeled as a quadrotor with four control inputs. Each file contains two rows of numeric values associated with the time and control effort axes, respectively.
