Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications * *This work was supported by the H2020 ERC Starting Grand BUCOPHSYS, the Swedish Research Council (VR), the Swedish Foundation for Strategic Research (SSF) and the Knut och Alice Wallenberg Foundation.

Abstract

This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the motion of the agents in the workspace is abstracted into individual Transition Systems (TS). Second, each agent is assigned with an individual formula given in Metric Interval Temporal Logic (MITL) and in parallel, the team of agents is assigned with a collaborative team formula. The proposed method is based on a correct-by-construction control synthesis method, and hence guarantees that the resulting closed-loop system will satisfy the specifications. The specifications considers boolean-valued properties under real-time. Extended simulations has been performed in order to demonstrate the efficiency of the proposed controllers.Keywords: Reachability analysis, verification and abstraction of hybrid systems, Multi-agent systems, Control design for hybrid systems, Modelling and control of hybrid and discrete event systems, Temporal Logic