Multi-agent Coordination Subject to Counting Constraints: A Hierarchical Approach

Abstract

This paper considers the problem of generating multi-agent trajectories to satisfy properties given in counting temporal logic. A hierarchical solution approach is proposed where a coarse plan that satisfies the logic constraints is computed first at the higher-level, followed by a lower-level task of solving a sequence of multi-agent reachability problems. Collision avoidance and potential asynchronous executions are also dealt with at the lower-level. When lower-level planning problems are found to be infeasible, these infeasibility certificates are incorporated into the higher-level problem to re-generate plans. The results are demonstrated with several examples that show how the proposed approach scales with respect to different parameters.