Mode Switching Decentralized Multi-Agent Coordination under Local Temporal Logic Tasks

TL;DR

This paper introduces a decentralized control approach for multi-agent systems to achieve high-level goals specified by linear temporal logic, ensuring collision avoidance and connectivity maintenance.

Contribution

It proposes a novel hybrid switching control strategy that guarantees agents satisfy local temporal logic tasks while maintaining system connectivity.

Findings

Control protocol guarantees goal achievement under collision constraints.

Hybrid switching strategy ensures temporal logic satisfaction.

Simulation confirms effectiveness of the proposed method.

Abstract

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.