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We propose a mathematical framework for synthesizing motion plans formulti-agent systems that fulfill complex, high-level and formal localspecifications in the presence of inter-agent communication. The proposedsynthesis framework consists of desired motion specifications in temporal logic(STL) formulas and a local motion controller that ensures the underlying agentnot only to accomplish the local specifications but also to avoid collisionswith other agents or possible obstacles, while maintaining an optimizedcommunication quality of service (QoS) among the agents. Utilizing a Gaussianfading model for wireless communication channels, the framework synthesizes thedesired motion controller by solving a joint optimization problem on motionplanning and wireless communication, in which both the STL specifications andthe wireless communication conditions are encoded as mixed integer-linearconstraints on the variables of the agents' dynamical states and communicationchannel status. The overall framework is demonstrated by a case study ofcommunication-aware multi-robot motion planning and the effectiveness of theframework is validated by simulation results.

Communication-aware Motion Planning for Multi-agent Systems from Signal Temporal Logic Specifications