Cooperative decentralized multi-agent control under local LTL tasks and connectivity constraints

We propose a framework for the decentralized control of a team of agents that are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas. Each local LTL task specification captures both the requirements on the respective agent´s behavior and the requests for the other agents´ collaborations needed to accomplish the task. Furthermore, the agents are subject to communication constraints. The presented solution follows the automata-theoretic approach to LTL model checking, however, it avoids the computationally demanding construction of synchronized product system between the agents. A decentralized coordination scheme through a dynamic leader selection is proposed, to guarantee the low-level connectivity maintenance and a progress towards the satisfaction of each agent´s task.