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Decentralized Safe Reactive Planning under TWTL Specifications

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Document pages: 8 pages

Abstract: We investigate a multi-agent planning problem, where each agent aims toachieve an individual task while avoiding collisions with others. We assumethat each agent s task is expressed as a Time-Window Temporal Logic (TWTL)specification defined over a 3D environment. We propose a decentralizedreceding horizon algorithm for online planning of trajectories. We show thatwhen the environment is sufficiently connected, the resulting agenttrajectories are always safe (collision-free) and lead to the satisfaction ofthe TWTL specifications or their finite temporal relaxations. Accordingly,deadlocks are always avoided and each agent is guaranteed to safely achieve itstask with a finite time-delay in the worst case. Performance of the proposedalgorithm is demonstrated via numerical simulations and experiments withquadrotors.

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