The goal of this paper is to obtain online abstractions for coupled multi-agent systems in a decentralized manner. A discrete model which captures the motion capabilities of each agent is derived over a bounded time-horizon, by discretizing a corresponding overapproximation of the agent’s reachable states. The individual abstractions’ composition provides a correct representation of the coupled continuous system over the horizon and renders the approach appropriate for control synthesis under high-level specifications which are assigned to the agents over this time window. Sufficient conditions are also provided for the space and time discretization to guarantee the derivation of deterministic abstractions with tunable transition capabilities.

本文的目的是以分散的方式获得耦合多智能体系统的在线抽象。通过离散化代理的可到达状态的相应近似值，可以在有限的时间水平上得出捕获每个代理的运动能力的离散模型。各个抽象的构成提供了地平线上连续系统的正确表示，并使该方法适用于在此时间窗内分配给代理的高级规范下的控制综合。还为空间和时间离散化提供了充分的条件，以确保派生具有可调过渡功能的确定性抽象。