Title: Motion and Cooperative Transportation Planning for Multi-Agent Systems under Temporal Logic Formulas,
Abstract: This paper presents a hybrid control framework for the motion planning of a
multi-agent system including N robotic agents and M objects, under high level
goals expressed as Linear Temporal Logic (LTL) formulas. In particular, we
design control protocols that allow the transition of the agents as well as the
cooperative transportation of the objects by the agents, among predefined
regions of interest in the workspace. This allows to abstract the coupled
behavior of the agents and the objects as a finite transition system and to
design a high-level multi-agent plan that satisfies the agents' and the
objects' specifications, given as temporal logic formulas. Simulation results
verify the proposed framework.