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This paper addresses the motion planning problem for a team of aerial agentsunder high level goals. We propose a hybrid control strategy that guaranteesthe accomplishment of each agent's local goal specification, which is given asa temporal logic formula, while guaranteeing inter-agent collision avoidance.In particular, by defining 3-D spheres that bound the agents' volume, we extendprevious work on decentralized navigation functions and propose control lawsthat navigate the agents among predefined regions of interest of the workspacewhile avoiding collision with each other. This allows us to abstract the motionof the agents as finite transition systems and, by employing standard formalverification techniques, to derive a high-level control algorithm thatsatisfies the agents' specifications. Simulation and experimental results withquadrotors verify the validity of the proposed method.

Decentralized Motion Planning with Collision Avoidance for a Team of UAVs under High Level Goals