On the Timed Temporal Logic Planning of Coupled Multi-Agent Systems

TL;DR

This paper introduces an automated method for synthesizing controllers for coupled multi-agent systems to satisfy high-level specifications expressed in Metric Interval Temporal Logic, using decentralized abstraction and formal verification techniques.

Contribution

It presents a novel automated procedure combining decentralized abstraction and formal verification for controller synthesis in coupled multi-agent systems under temporal logic constraints.

Findings

Successfully synthesizes controllers satisfying high-level MITL specifications.

Demonstrates the approach with a MATLAB simulation example.

Provides a formal guarantee of task satisfaction.

Abstract

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.