Hongbo Yang/ Alex Yang

Hongbo Yang/ Alex Yang

Still Waters Run Deep.

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Pages

Posts

Future Blog Post

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Blog Post number 4

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Blog Post number 2

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Blog Post number 1

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publications

Output Regulation of Discrete Event Dynamic Systems

Published in Journal of Xiamen University(Natural Science), 2022

Recommended citation: Hongbo Yang, Peng Lv, Xiang Yin, and Shaoyuan Li. (2022). " Output Regulation of Discrete Event Dynamic Systems." Journal of Xiamen University(Natural Science).61(06)

Temporal Relaxation of STL Specifications in Distributed Multi-Agent Systems

Published in IES ONCON, 2023

We investigate a planning problem in a time-critical Multi-Agent System (MAS), where each agent is assigned with a local task formulated as a Signal Temporal Logic (STL) specification. Due to task coupling, the temporal constraints of some STL tasks should be relaxed to maintain the satisfaction of the edited tasks. An algorithm with a Distributed Model Predictive Control (DMPC) framework and an estimation mechanism of temporal relaxation are developed to ensure the satisfaction with minimized temporal relaxation. The efficacy and efficiency of the proposed algorithm are demonstrated via a simulation compared with an optimal baseline method using mixed integer programming encoding.

Recommended citation: Hongbo Yang, Yuanyuan Zou, and Shaoyuan Li. (2023). "Temporal Relaxation of STL Specifications in Distributed Multi-Agent Systems." IEEE 2nd Industrial Electronics Society Annual On-Line Conference (ONCON). pp.1-6.

Distributed Predictive Control under Multiple Sub-formula STL Specifications with Temporal Relaxation

Published in IES IECON, 2024

In a Multi-Agent System (MAS), where each agent is assigned with local Signal Temporal Logic (STL) tasks, coupled tasks frequently appear, causing STL violations. To address this issue, a Distributed Model Predictive Control (DMPC) algorithm is proposed to loosen the temporal constraints of non-nested STL specifications with multiple sub-formulae. We use temporal relaxation and task postponement of some sub-formulae to handle task conflicts. First, the online reference trajectories of each subtask are generated that the corresponding STL satisfaction constraints are incorporated into the DMPC problem. Then, we use compatibility constraints to implement synchronous cooperative collision avoidance. Based on the online reference trajectories, the temporal relaxation metric of each sub-formula is given, and is optimized in the DMPC optimization problem. As a result, the optimal controller enforcing STL satisfaction and minimal temporal relaxation is found. Finally, simulations demonstrate the effectiveness of the suggested algorithm.

Recommended citation: Hongbo Yang, Yuanyuan Zou, and Shaoyuan Li. (2024). " Distributed Predictive Control under Multiple Sub-formula STL Specifications with Temporal Relaxation." Annual Conference of the IEEE Industrial Electronics Society (IECON). xx(xx).