Decentralized Multi-agent Coordination under MITL Specifications and Communication Constraints

Abstract

We propose a decentralized solution for high-level multi-agent task planning problems in environments with a communication network failure. In particular, we consider that the agents can only sense each other and communicate only within a limited radius, yet, they may need to collaborate to accomplish their tasks. These are given in Metric Interval Temporal Logic (MITL) which enables to capture complex task specifications involving explicit time constraints. To substitute for the lacking communication network, we propose to deploy an agile robot that transfers information between the heavyduty robots executing the tasks. We propose an algorithm to decompose each MITL formula into an independent promise for the respective agent and an independent request for others. The agile robot systematically pursues heavy-duty robots to exchange requests. The heavy-duty robots use formal methodsbased algorithms to compute path plans satisfying the independent promises and the received requests. While the plan computation for the agents is fully decentralized, the satisfaction of all tasks is guaranteed (if such plans are found). We present a series of illustrative simulation examples motivated by search and rescue scenarios.