---
abstract: 'We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the control synthesis problem for single-agent systems under signal temporal logic tasks are, however, subject to a high computational complexity. Methods for multi-agent systems scale at least linearly with the number of agents and induce even higher computational burdens. We propose a computationally-efficient control strategy to solve the multi-agent control synthesis problem that results in a robust satisfaction of a set of signal temporal logic tasks. In particular, a decentralized feedback control law is proposed that is based on time-varying control barrier functions. The obtained control law is discontinuous and formal guarantees are provided by nonsmooth analysis. Simulations show the efficacy of the presented method.'
author:
- 'Lars Lindemann and Dimos V. Dimarogonas[^1][^2]'
bibliography:
- 'literature.bib'
title: '**Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks** '
---

[^1]: This work was supported in part by the Swedish Research Council (VR), the European Research Council (ERC), the Swedish Foundation for Strategic Research (SSF), the EU H2020 Co4Robots project, the SRA ICT TNG project STaRT, and the Knut and Alice Wallenberg Foundation (KAW).

[^2]: The authors are with the Department of Automatic Control, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, 100 44 Stockholm, Sweden. <span>karen33@example.net (L. Lindemann), karen33@example.net (D.V. Dimarogonas)</span>

{'source': 'arXiv_out/2011'}