# Robust Multi-Agent Coordination from CaTL+ Specifications

arXiv: https://arxiv.org/abs/2210.01732 · HTML: https://mlsanity.com/paper/2210.01732/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Oct 2022.

## Built on by (most cited first, 7 of 7)

- [Enhancing Multi-Agent Systems via Reinforcement Learning with LLM-based Planner and Graph-based Policy](https://mlsanity.com/paper/2503.10049/) (2025)
- [Learning Robust and Correct Controllers from Signal Temporal Logic Specifications Using BarrierNet](https://mlsanity.com/paper/2304.06160/) (2023)
- [Decomposition-based Hierarchical Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications](https://mlsanity.com/paper/2308.10393/) (2023)
- [CatlNet: Learning Communication and Coordination Policies from CaTL+ Specifications](https://mlsanity.com/paper/2212.11792/) (2022)
- [Feasibility-aware Learning of Robust Temporal Logic Controllers using BarrierNet](https://mlsanity.com/paper/2512.06973/) (2025)
- [Multi-Agent Planning with Spatio-Temporal and Topological Constraints using STL-GO](https://mlsanity.com/paper/2607.28679/) (2026)
- [Generalizable Multi-Agent Planning from Signal Temporal Logic Specifications via Diffusion](https://mlsanity.com/paper/2608.29490/) (2026)

## Abstract (arXiv)

We consider the problem of controlling a heterogeneous multi-agent system required to satisfy temporal logic requirements. Capability Temporal Logic (CaTL) was recently proposed to formalize such specifications for deploying a team of autonomous agents with different capabilities and cooperation requirements. In this paper, we extend CaTL to a new logic CaTL+, which is more expressive than CaTL and has semantics over a continuous workspace shared by all agents. We define two novel robustness metrics for CaTL+: the traditional robustness and the exponential robustness. The latter is sound, differentiable almost everywhere and eliminates masking, which is one of the main limitations of the traditional robustness metric. We formulate a control synthesis problem to maximize CaTL+ robustness and propose a two-step optimization method to solve this problem. Simulation results are included to illustrate the increased expressivity of CaTL+ and the efficacy of the proposed control synthesis approach.