Abstract
This paper proposes a novel control synthesis method for cooperative multi-robot systems to fulfil a global mission given as linear temporal logic on finite traces (LTLf). Transition systems are used as the form of distributed controllers, such that the robots are driven to act asynchronously and synchronize on shared actions for necessary local coordination. An automated control synthesis method is proposed, which generates provably correct distributed controllers by two steps: (i) synthesizing satisfiable global controllers for the parallel composition of the uncontrolled system, such that the global specification is met; (ii) searching for a decomposable global controller among them over the synchronization scheme to obtain decomposed distributed controllers. The method is integrated into a closed-loop mission execution framework, of which the applicability is demonstrated with a simulation based on ROS.
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