Cooperative Task Planning of Multi-Agent Systems Under Timed Temporal Specifications

TL;DR

This paper presents a systematic method for cooperative task planning in multi-agent systems with timed constraints specified by MITL, ensuring individual and team task satisfaction through automatic control synthesis.

Contribution

It introduces a novel two-stage control synthesis approach for multi-agent systems under timed specifications using MITL, guaranteeing both individual and collective task fulfillment.

Findings

Successfully guarantees individual agent task satisfaction

Ensures team-wide task compliance under timed constraints

Provides an automatic control synthesis framework

Abstract

In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a method for automatic control synthesis in a two-stage systematic procedure. With this method we guarantee that all the agents satisfy their own individual task specifications as well as that the team satisfies a team global task specification.