We propose a new multi-agent task grammar to encode collaborative tasks for a team of heterogeneous agents that can have overlapping capabilities. The grammar allows users to specify the relationship between agents and parts of the task without providing explicit assignments or constraints on the number of agents required. We develop a method to automatically find a team of agents and synthesize correct-by-construction control with synchronization policies to satisfy the task. We demonstrate the scalability of our approach through simulation and compare our method to existing task grammars that encode multi-agent tasks.

翻译：我们提出一种新的多智能体任务语法，用于对具备重叠能力的异构智能体团队所执行的协作任务进行编码。该语法允许用户在无需提供显式指派或对所需智能体数量进行约束的情况下，指定智能体与任务各部分之间的关系。我们开发了一种方法，可自动组建智能体团队，并综合出满足任务要求的、具有构建正确性保证的同步策略控制方案。通过仿真实验，我们验证了所提方法的可扩展性，并将该方法与现有用于编码多智能体任务的任务语法进行了对比。