Distributed Monitoring of Robot Swarms with Swarm Signal Temporal Logic.
作者： Agung Julius , Ruixuan Yan
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摘要: In this paper, we develop a distributed monitoring framework for robot swarms so that the agents can monitor whether executions of satisfy Swarm Signal Temporal Logic (SwarmSTL) formulas. We define generalized moments (GMs) to represent swarm features. A dynamic consensus algorithm (GMCA) with Kalman filter (KF) is proposed each agent estimate GMs. Also, obtain an upper bound error between agent's and actual This independent motion agents. also propose rules SwarmSTL temporal logical operators. As result, satisfies formulas certain confidence level using these estimation error. The applied transporting supplies example, where show efficacy in process.
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