On the Timed Temporal Logic Planning of Coupled Multi-Agent Systems
It addresses the problem of synthesizing controllers for multi-agent systems with coupling constraints and temporal logic specifications, but the contribution appears incremental as it combines existing abstraction and formal verification techniques.
This paper proposes a fully automated controller synthesis procedure for multi-agent systems with coupling constraints, ensuring each agent satisfies individual Metric Interval Temporal Logic specifications. The method is demonstrated in a MATLAB simulation.
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the other one is an additional bounded control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal Logic (MITL). First, a decentralized abstraction that provides a space and time discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal verification, we propose an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example conducted in MATLAB environment.