Multi-Agent Coordination Subject to Counting Constraints: A Hierarchical Approach

Yunus Emre Sahin, Necmiye Ozay, Stavros Tripakis

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


This paper considers the problem of generating multi-agent trajectories to satisfy properties given in counting temporal logic. A hierarchical solution approach is proposed where a coarse plan that satisfies the logic constraints is computed first at the higher-level, followed by a lower-level task of solving a sequence of multi-agent reachability problems. Collision avoidance and potential asynchronous executions are also dealt with at the lower-level. When lower-level planning problems are found to be infeasible, these infeasibility certificates are incorporated into the higher-level problem to re-generate plans. The results are demonstrated with several examples that show how the proposed approach scales with respect to different parameters.
Original languageEnglish
Title of host publicationDistributed Autonomous Robotic Systems
Subtitle of host publicationThe 14th International Symposium
ISBN (Electronic)978-3-030-05816-6
Publication statusPublished - 30 Jan 2019
MoE publication typeA4 Article in a conference publication
EventInternational Symposium on Distributed Autonomous Robotic Systems - Boulder, United States
Duration: 15 Oct 201817 Oct 2018
Conference number: 14

Publication series

NameSpringer Proceedings in Advanced Robotics
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


ConferenceInternational Symposium on Distributed Autonomous Robotic Systems
Abbreviated titleDARS
CountryUnited States


  • counting constraints
  • multi-agent path planning
  • ormal methods
  • hierarchical planning


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