# Communication-Free Multi-Agent Control under Local Temporal Tasks and Relative-Distance Constraints

arXiv: https://arxiv.org/abs/1410.8673 · HTML: https://mlsanity.com/paper/1410.8673/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Oct 2014.

## Built on by (most cited first, 1 of 1)

- [Logic programming for deliberative robotic task planning](https://mlsanity.com/paper/2301.07550/) (2023)

## Abstract (arXiv)

We propose a distributed control and coordination strategy for multi-agent systems where each agent has a local task specified as a Linear Temporal Logic (LTL) formula and at the same time is subject to relative-distance constraints with its neighboring agents. The local tasks capture the temporal requirements on individual agents' behaviors, while the relative-distance constraints impose requirements on the collective motion of the whole team. The proposed solution relies only on relative-state measurements among the neighboring agents without the need for explicit information exchange. It is guaranteed that the local tasks given as syntactically co-safe or general LTL formulas are fulfilled and the relative-distance constraints are satisfied at all time. The approach is demonstrated with computer simulations.