Distributed communication-aware motion planning for multi-agent systems from STL and SpaTeL specifications

In this paper, we study the control and communication co-design for networked vehicles that coordinate with each other to achieve safe operations. We propose a control-theoretical framework for distributed motion planning for multi-agent such that complex and high-level specifications are satisfied while communication quality is optimized. The desired motion specifications and communication performance are specified as signal temporal logic (STL) and spatial-temporal logic (SpaTeL) formulas, respectively. We encode the formulas as the constraints in mixed integer linear programs (MILP), and upon which control strategies satisfying both STL and SpaTeL specifications are generated locally by employing a distributed model predictive control (MPC) framework. The effectiveness of the proposed framework is validated by simulation.