We address a path planning problem for heterogeneous multi-robot systems under specifications consisting of temporal constraints and routing tasks such as package delivery services. The robots are partitioned into several groups based on their dynamics and specifications. We introduce a concise description of such tasks, called a work, and extend counting LTL to represent such specifications. We convert the problem into an ILP problem. We show that the number of variables in the ILP problem is fewer than that of the existing method using cLTL+. By simulation, we show that the computation time of the proposed method is faster than that of the existing method.

In a multi-agent system, it is important to consider a design method of cooperative actions in order to achieve a common goal. In this paper, we propose two novel multi-agent reinforcement learning methods, where the control specification is described by linear temporal logic formulas, which represent a common goal. First, we propose a simple solution method, which is directly extended from the single-agent case. In this method, there are some technical issues caused by the increase in the number of agents. Next, to overcome these technical issues, we propose a new method in which an aggregator is introduced. Finally, these two methods are compared by numerical simulations, with a surveillance problem as an example.

This paper presents a novel method for optimal control of timed Petri nets, introducing a novel temporal logic based constraint called a generalized mutual exclusion temporal constraint (GMETC). The GMETC is described by a metric temporal logic (MTL) formula where each atomic proposition represents a generalized mutual exclusion constraint (GMEC). We formulate an optimal control problem of the timed Petri nets under a given GMETC and solve the problem by transforming it into an integer linear programming problem where the MTL formula is encoded by linear inequalities. We show the effectiveness of the proposed approach by a numerical simulation.

We address a BEMS (Building Energy Management System) to guarantee reliability of electric-power supply in dynamic uncertain environments. The building microgrid as the target of BEMS has multiple distributed power sources including a photo-voltaic power system and Electric-Vehicle (EV). EV is regarded as an autonomously-moving battery due to the original means of transportation and is hence a cause of dynamic uncertainty of the building microgrid. The main objective of synthesis of BEMS in this paper is to guarantee the continuous supply of power to the most critical load in a building microgrid and to realize the power supply to the other loads according to a ranking of load importance. We synthesize the BEMS as a reactive control system that monitors changes of dynamic uncertain environment of the microgrid including departure and arrival of an EV, and determines a route of power supply to the most critical load. Also, we conduct numerical experiments of the reactive BEMS using models of power flows in the building and of charging states of the batteries. The experiments are incorporated with data measured in a practical office building and demonstration project of EMS at Osaka, Japan. We show that the BEMS works for extending the time duration of continuous power supply to the most critical load.

In this paper, we study a control problem of a concurrent discrete event system, where several subsystems are partially synchronized via shared events, under local and global constraints described by linear temporal logic formulas. We propose a hierarchical control architecture consisting of local supervisors and a coordinator. While the supervisors ensure the local requirements, the coordinator decides which shared events to be disabled so as to satisfy the global specification. First, we construct Rabin games to obtain local supervisors. Next, we reduce them based on shared transitions. Finally, we construct a global Rabin game from the reduced supervisors and a deterministic Rabin automaton that accepts every run satisfying the global specification. By solving it, we obtain a coordinator that disables shared events to guarantee the global requirement. Moreover, the concurrent system controlled by the coordinator and the local supervisors is deadlock-free.

Verification of temporal logic properties plays a crucial role in proving the desired behaviors of continuous systems. In this paper, we propose an interval method that verifies the properties described by a bounded signal temporal logic. We relax the problem so that if the verification process cannot succeed at the prescribed precision, it outputs an inconclusive result. The problem is solved by an efficient and rigorous monitoring algorithm. This algorithm performs a forward simulation of a continuous-time dynamical system, detects a set of time intervals in which the atomic propositions hold, and validates the property by propagating the time intervals. In each step, the continuous state at a certain time is enclosed by an interval vector that is proven to contain a unique solution. We experimentally demonstrate the utility of the proposed method in formal analysis of nonlinear and complex continuous systems.