Extension of a decomposition method for a global LTL specification

This paper proposes an extension of an algorithm that decomposes a high-level specification into sub-formulas that are called tasks. The extension consists in enabling repetitive (non-terminating) behaviors expressed in Linear Temporal Logic (LTL), rather than only terminating ones, as the previous version of our method allowed. The LTL specification has the meaning of a global mission that must be accomplished by a team of mobile agents, while the decomposition ensures that the tasks can be executed independently by the robots, thus avoiding communications or synchronizations. An example is illustrating the presented work, while future research will be conducted towards inclusion of negations in formulas.