Distributed safe planning for satisfying minimal temporal relaxations of TWTL specifications

Ryan Peterson, Ali Tevfik Buyukkocak, Derya Aksaray, Yasin Yazıcıoğlu

Research output: Contribution to journalArticlepeer-review

7 Scopus citations


We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with other agents. Each agent's task is expressed as a Time-Window Temporal Logic (TWTL) specification defined over a discretized environment. We propose a distributed receding horizon algorithm for online planning of agent trajectories. We show that under mild assumptions on the environment, the resulting trajectories are always safe (collision-free) and lead to the satisfaction of the TWTL specifications or a finite temporal relaxation. Accordingly, each agent is guaranteed to safely achieve its task, possibly with some minimal finite delay. Performance of the proposed algorithm is demonstrated via numerical simulations and experiments with quadrotors.

Original languageEnglish (US)
Article number103801
JournalRobotics and Autonomous Systems
StatePublished - Aug 1 2021

Bibliographical note

Funding Information:
Some preliminary results of this work were presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Peterson et al., 2020). This work was partially supported at the University of Minnesota, United States by Honeywell Aerospace and MnDRIVE, University of Minnesota, United States .

Publisher Copyright:
© 2021 Elsevier B.V.


  • Collision avoidance
  • Distributed planning
  • Formal methods
  • Multi-agent systems


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