Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning and control of multi-agent systems under temporal logic tasks. The considered systems concern complex, robotic, manipulator-endowed systems, which can coordinate in order to execute complicated tasks, including object manipulation/transportation. Motivated by real-life scenarios, we take into account high-order dynamics subject to model uncertainties and unknown disturbances. Our approach is based on the integration of tools from the areas of multi-agent systems, intelligent control theory, cooperative object manipulation, discrete abstraction design of multi-agent-object systems, and formal verification. The first part of the thesis is devoted to the design of continuous control protocols for cooperative object manipulation/transportation by multiple robotic agents, and the relation of rigid cooperative manipulation schemes to multi-agent formation. In the second part of the thesis, we develop control schemes for the continuous coordination of multi-agent complex systems with uncertain dynamics, focusing on multi-agent navigation with collision specifications in obstacle-cluttered environments. The third part of the thesis is focused on the planning and control of multi-agent and multi-agent-object systems subject to complex tasks expressed as temporal logic formulas. The fourth and final part of the thesis focuses on several extension schemes for single-agent setups, such as motion planning under timed temporal tasks and asymptotic reference tracking for unknown systems while respecting funnel constraints.

翻译：多智能体系统的控制与规划是一个活跃且日益受到关注的研究课题，在救援任务、安防监控、交通运输等诸多实际应用中具有重要价值。本论文主要研究时序逻辑任务下多智能体系统的规划与控制问题。所考虑的系统涉及配备机械臂的复杂机器人系统，它们能够通过协同合作执行包含物体操作/运输在内的复杂任务。基于真实场景，我们考虑了存在模型不确定性和未知扰动的高阶动力学系统。我们的方法融合了多智能体系统、智能控制理论、协作物体操作、多智能体-物体系统离散抽象设计及形式化验证等领域的工具。论文第一部分致力于设计多机器人协同操作/运输物体的连续控制协议，并研究刚性协作操作方案与多智能体编队之间的关系。第二部分针对动力学不确定的多智能体复杂系统，开发了连续协调控制方案，重点解决了障碍物密集环境中带避碰约束的多智能体导航问题。第三部分聚焦于以时序逻辑公式表述的复杂任务下，多智能体系统及多智能体-物体系统的规划与控制。第四部分也是最后一部分，面向单智能体场景研究多种扩展方案，包括带时间约束时序任务下的运动规划，以及满足漏斗约束的未知系统渐近参考跟踪控制。