  Motivated by the recent interest in cyber-physical and autonomous robotic
systems, we study the problem of dynamically coupled multi-agent systems under
a set of signal temporal logic tasks. In particular, the satisfaction of each
of these signal temporal logic tasks depends on the behavior of a distinct set
of agents. Instead of abstracting the agent dynamics and the temporal logic
tasks into a discrete domain and solving the problem therein or using
optimization-based methods, we derive collaborative feedback control laws.
These control laws are based on a decentralized control barrier function
condition that results in discontinuous control laws, as opposed to a
centralized condition resembling the single-agent case. The benefits of our
approach are inherent robustness properties typically present in feedback
control as well as satisfaction guarantees for continuous-time multi-agent
systems. More specifically, time-varying control barrier functions are used
that account for the semantics of the signal temporal logic tasks at hand. For
a certain fragment of signal temporal logic tasks, we further propose a
systematic way to construct such control barrier functions. Finally, we show
the efficacy and robustness of our framework in an experiment including a group
of three omnidirectional robots.
