# Cooperative Planning for Coupled Multi-Agent Systems under Timed Temporal Specifications

arXiv: https://arxiv.org/abs/1603.05097 · HTML: https://mlsanity.com/paper/1603.05097/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Mar 2016.

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

- [Reinforcement learning with timed constraints for robotics motion planning](https://mlsanity.com/paper/2601.00087/) (2025)

## Abstract (arXiv)

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the first one models the coupled constraints and the other one is an additional control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal Logic (MITL). First, a decentralized abstraction that provides a time and space discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal veri- fication, we provide an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example.