The work introduces k-hop prescribed performance observers that let decentralized controllers enforce cooperative STL specifications on heterogeneous multi-agent systems despite bounded disturbances and limited communication.
Omni-directional mobile robot controller based on trajectory linearization,
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Control of Multi-agent Systems under STL Specifications based on Prescribed Performance Observers
The work introduces k-hop prescribed performance observers that let decentralized controllers enforce cooperative STL specifications on heterogeneous multi-agent systems despite bounded disturbances and limited communication.