Modal Specifications for Composition of Agent Behaviors

The goal of the behavior composition problem is to build a complex target behavior using several agent behaviors. We propose two extensions to the framework where agent behaviors are modeled by finite transition system and where the composition is done by coordinating the actions of the agents. The first extension is done by making the composition indirect: instead of choosing the actions of the agent, the composition is done by a controller issuing sets of instructions at each step. This allows to model problems where the agents behaviors are not fully controllable. The second extension is the use of modal specifications as a goal for the composition. These specifications express (infinite) sets of acceptable behaviors. We give an algorithm to solve the extended composition problem and we show that these two extensions retain the important properties of the initial framework and that the synthesis algorithm keep the same complexity