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We study the problem of control synthesis for multi-agent systems, to achievecomplex, high-level, long-term goals that are assigned to each agentindividually. As the agents might not be capable of satisfying their respectivegoals by themselves, requests for other agents' collaborations are a part ofthe task descriptions. Particularly, we consider that the task specificationtakes a form of a linear temporal logic formula, which may contain requirementsand constraints on the other agent's behavior. A traditional automata-basedapproach to multi-agent strategy synthesis from such specifications builds oncentralized planning for the whole team and thus suffers from extremecomputational demands. In this work, we aim at reducing the computationalcomplexity by decomposing the strategy synthesis problem into short horizonplanning problems that are solved iteratively, upon the run of the agents. Wediscuss the correctness of the solution and find assumptions, under which theproposed iterative algorithm leads to provable eventual satisfaction of thedesired specifications.

A Receding Horizon Approach to Multi-Agent Planning from Local LTL Specifications