Communication-Free Multi-Agent Control under Local Temporal Tasks and Relative-Distance Constraints

TL;DR

This paper introduces a distributed control method for multi-agent systems that ensures local temporal tasks and relative-distance constraints are satisfied without explicit communication, using only relative-state measurements.

Contribution

It presents a novel communication-free control strategy that guarantees task fulfillment and constraint satisfaction in multi-agent systems with local LTL tasks.

Findings

Guarantees local task completion and distance constraints simultaneously.

Operates without explicit inter-agent communication, relying solely on relative measurements.

Validated through computer simulations demonstrating effectiveness.

Abstract

We propose a distributed control and coordination strategy for multi-agent systems where each agent has a local task specified as a Linear Temporal Logic (LTL) formula and at the same time is subject to relative-distance constraints with its neighboring agents. The local tasks capture the temporal requirements on individual agents' behaviors, while the relative-distance constraints impose requirements on the collective motion of the whole team. The proposed solution relies only on relative-state measurements among the neighboring agents without the need for explicit information exchange. It is guaranteed that the local tasks given as syntactically co-safe or general LTL formulas are fulfilled and the relative-distance constraints are satisfied at all time. The approach is demonstrated with computer simulations.