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This paper addresses the multi-agent control problem under global temporallogic tasks, considering agents with heterogeneous capabilities. These globaltasks involve not only absolute and relative temporal and spatial constraints,but also group behaviors, including task completion times, agent capabilities,and task interdependencies such as the need for synchronous execution. Theglobal tasks are formally formulated into global signal temporal logic (STL)formulae, and a synchronous robustness metric is designed to evaluate thesynchronization quality with real values. A mixed-integer linear programming(MILP) encoding method is further proposed to realize task-satisfied motionplanning with high synchronicity and minimum control efforts. The encodingmethod uses a logarithmic number of binary variables to fully capturesynchronous robustness, leading to only linear computational complexity.Simulations are conducted to demonstrate the efficiency of the proposed controlstrategy.

Multi-Agent Control Synthesis from Global Temporal Logic Tasks with Synchronous Satisfaction Requirements