Probabilistic Plan Recognition for Multi-Agent Systems under Temporal Logic Tasks

Abstract

This paper studies the plan recognition problem of multi-agent systems with temporal logic tasks. The high-level temporal tasks are represented as linear temporal logic (LTL). We present a probabilistic plan recognition algorithm to predict the future goals and identify the temporal logic tasks of the agent based on the observations of their states and actions. We subsequently build a plan library composed of Nondeterministic Büchi Automation to model the temporal logic tasks. We also propose a Boolean matrix generation algorithm to map the plan library to multi-agent trajectories and a task recognition algorithm to parse the Boolean matrix. Then, the probability calculation formula is proposed to calculate the posterior goal probability distribution, and the cold start situation of the plan recognition is solved using the Bayes formula. Finally, we validate the proposed algorithm via extensive comparative simulations.