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Multi-agent systems (MASs) consisting of a number of autonomous agents that communicate, coordinate, and jointly sense the environment to achieve complex missions can be found in a variety of applications such as robotics, smart cities, and internet-of-things applications. Modeling and monitoring MAS requirements to guarantee overall mission objectives, safety, and reliability is an important problem. Such requirements implicitly require reasoning about diverse sensing and communication modalities between agents, analysis of the dependencies between agent tasks, and the spatial or virtual distance between agents. To capture such rich MAS requirements, we model agent interactions via multiple directed graphs, and introduce a new logic –Spatio-Temporal Logic with Graph Operators(STL-GO). The key innovation in STL-GO are graph operators that enable us to reason about the number of agents along either the incoming or outgoing edges of the underlying interaction graph that satisfy a given property of interest; for example, the requirement that an agent should sense at least two neighboring agents whose task graphs indicate the ability to collaborate. We then propose novel distributed monitoring conditions for individual agents that use only local information to determine whether or not an STL-GO specification is satisfied. We compare the expressivity of STL-GO against existing spatio-temporal logic formalisms, and demonstrate the utility of STL-GO and our distributed monitors in a bike-sharing and a multi-drone case study.
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Mean‐field limit of non‐exchangeable systems
Abstract This paper deals with the derivation of the mean‐field limit for multi‐agent systems on a large class of sparse graphs. More specifically, the case of non‐exchangeable multi‐agent systems consisting of non‐identical agents is addressed. The analysis does not only involve PDEs and stochastic analysis but also graph theory through a new concept of limits of sparse graphs (extended graphons) that reflect the structure of the connectivities in the network and has critical effects on the collective dynamics. In this article some of the main restrictive hypothesis in the previous literature on the connectivities between the agents (dense graphs) and the cooperation between them (symmetric interactions) are removed.
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- PAR ID:
- 10571507
- Publisher / Repository:
- Wiley Blackwell (John Wiley & Sons)
- Date Published:
- Journal Name:
- Communications on Pure and Applied Mathematics
- Volume:
- 78
- Issue:
- 4
- ISSN:
- 0010-3640
- Format(s):
- Medium: X Size: p. 651-741
- Size(s):
- p. 651-741
- Sponsoring Org:
- National Science Foundation
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