Decentralized multi-agent control from local LTL specifications

Abstract—We propose a methodology for decentralized multi-agent control from Linear Temporal Logic (LTL) spec-ifications. Each agent receives an independent specification to formally synthesize its own hybrid controller. Mutual satisfia-bility is not a priori guaranteed. Due to limited communication, the agents utilize meeting events to exchange their controller automata and verify satisfiability through model checking. Local interaction only when common atomic propositions exist reduces the overall computational cost, facilitating scalability. Provably correct collision avoidance and convergence is ensured by Decentralized Multi-Agent Navigation Functions. I