Mode Switching Decentralized Multi-Agent Coordination under Local Temporal Logic Tasks
It addresses decentralized coordination of agents with temporal logic constraints, but the results are preliminary and incremental.
This paper proposes a hybrid switching control strategy for multi-agent systems to satisfy local linear temporal logic tasks while maintaining connectivity and avoiding collisions. Simulations validate the approach.
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order dynamics, has to satisfy a given local temporal logic specification subject to connectivity maintenance and inter-agent collision avoidance. We propose a novel continuous control protocol that guarantees navigation of one agent to a goal point, up to a set of collision-free initial configurations, while maintaining connectivity of the initial neighboring set and avoiding inter-agent collisions. Based on that, we develop a hybrid switching control strategy that ensures that each agent satisfies its temporal logic task. Simulation results depict the validity of the proposed scheme.