“…The LTL tasks are φ 1 := GF (α 1,1 ∧ α 1,2 ) and φ 2 := GF (α 2,1 ∧ α 2,2 ) or, in words, robot 1 (robot 2) should periodically visit α 1,1 and α 1,2 (α 2,1 and α 2,2 ). For robot 3, define µ 3,1 := ( z 3 − 0 −≤ 0.1), µ 3,2 := ( z 3 − 1.5 −1.≤ 0.1), µ 3,3 := ( z 3 − z 4 ≤ 0.7), φ 3 := G[21,30] µ 3,1 , and φ 3 := F [57,58] (µ 3,2 ∧ µ 3,3 ). Robot 3 is then subject to φ 3 := φ 3 ∧ φ 3 or, in words, always between 21-30 sec be in region µ 3,1 and eventually between 57-58 sec be in region µ 3,2 while being at least 0.7 m close to robot 4.…”