Multi-agent System Motion Planning under Temporal Logic Specifications and Control Barrier Function

Abstract

In this paper, we provide a novel scheme to solve the motion planning problem of multi-agent systems under high-level task specifications. First, linear temporal logic is applied to express the global task specification. Then an efficient and decentralization algorithm is proposed to decompose it into local tasks. Finally, we use control barrier function to synthesize the local controller for each agent under the LTL motion plan safety constraint. Simulation results prove the effectiveness and efficiency of our proposed method.