Multi-agent LTL opacity

We propose a framework which synthesizes a plan of multi-agent team for LTL tasks and opacity security constraints.

Security-Preserving Multi-Agent Coordination for Complex Temporal Logic Tasks

Paper | Simulation code | Experiment video

Instructions

Codes in the codes folder are all implemented in Python 2.7.

Take Case Study 3 in the paper as an example, we upload the corresponding codes and you can try main.py in the codes folder to obtain the final result. It costs about 5h (2.10 GHz CPU) and the result of the code is shown in result.txt. To run other cases in the paper or self-defined scenarios, you only need to change the corresponding information in Init.py.

Moreover, the construction details of GTS, labeling-GTS, multiple-labeling-GTS, automata and product system in the paper are corresponding to GTS.py, labelingGTS.py, MulLabelingGTS.py, buchi.py and ProductSystem.py in this project respectively.

Dependencies

• The packages needed for running the code are NetworkX and PLY.
• ltl2ba in the codes folder is an executable file complied under OS X or linux. For other systems, please follow Install_ltl2ba/README.md.

Acknowledgement

Thanks for MengGuo's project's great help when I learned this field.