# Controller Synthesis of Collaborative Signal Temporal Logic Tasks for Multi-Agent Systems via Assume-Guarantee Contracts

arXiv: https://arxiv.org/abs/2309.13499 · HTML: https://mlsanity.com/paper/2309.13499/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Sep 2023.

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

- [Reward Machines for Signal Temporal Logic](https://mlsanity.com/paper/2608.13625/) (2026)

## Abstract (arXiv)

This paper considers the problem of controller synthesis of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional framework based on continuous-time assume-guarantee contracts is developed to break the complex and large synthesis problem into subproblems of manageable sizes. We first show how to formulate the collaborative STL tasks as assume-guarantee contracts by leveraging the idea of funnel-based control. The concept of contracts is used to establish our compositionality result, which allows us to guarantee the satisfaction of a global contract by the multi-agent system when all agents satisfy their local contracts. Then, a closed-form continuous-time feedback controller is designed to enforce local contracts over the agents in a distributed manner, which further guarantees the global task satisfaction based on the compositionality result. Finally, the effectiveness of our results is demonstrated by two numerical examples.