# 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.

## Key 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.