Cooperative Planning for Coupled Multi-Agent Systems under Timed Temporal Specifications

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the first one models the coupled constraints and the other one is an additional 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 time and space discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal veri- fication, we provide an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example.