A Formal Modular Synthesis Approach for the Coordination of Multi-Agent Systems

In this paper, we deal with the problem of coordinating multiple agents to accomplish a global task. This problem consists of a set of homogeneous agents that interact with each other in order to autonomously complete a common global task. Our approach is based on the Supervisory Control Theory and it derives conditions that allow us to synthesize a local supervisor from models that represent a single agent, its local control specifications and the global task in such a way that, when this supervisor is replicated for the other agents, the global task can be completed by the coordinated action of all agents.