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We propose a distributed control and coordination strategy for multi-agentsystems 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 constraintswith its neighboring agents. The local tasks capture the temporal requirementson individual agents' behaviors, while the relative-distance constraints imposerequirements on the collective motion of the whole team. The proposed solutionrelies only on relative-state measurements among the neighboring agents withoutthe need for explicit information exchange. It is guaranteed that the localtasks given as syntactically co-safe or general LTL formulas are fulfilled andthe relative-distance constraints are satisfied at all time. The approach isdemonstrated with computer simulations.

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