A Bottom-Up, Top-Down Approach to Formal Control Synthesis for Multi-agent Systems

This paper develops an approach for synthesizing the cooperative control of multiple agents. Typically, the design of the control for this type of system requires a high level of complexity and is based on heuristics. To avoid the use of heuristics, formal supervisory control theory is applied to generate control logic that is correct-by-construction. This paper combines the bottom-up approach of [1] with a novel top-down refinement step to further reduce the complexity of the control synthesis process. The method of this paper is validated using the example of [1] and is shown to provide significant further reduction in computation time.