Synthesis of Minimum-Cost Shields for Multi-agent Systems

In this paper, we propose a general approach
to derive runtime enforcement implementations for multiagent systems, called shields, from temporal logical specifications. Each agent of the multi-agent system is monitored,
and if needed corrected, by the shield, such that a global
specification is always satisfied. The different ways of how
a shield can interfere with each agent in the system in case
of an error introduces the need for quantitative objectives.
This work is the first to discuss the shield synthesis
problem with quantitative objectives. We provide several
cost functions that are utilized in the multi-agent setting
and provide methods for the synthesis of cost-optimal
shields and fair shields, under the given assumptions on
the multi-agent system. We demonstrate the applicability
of our approach via a detailed case study on UAV mission planning for warehouse logistics and simulating the
shielded multi-agent system on ROS/Gazebo