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<p>This paper introduces spatio-temporal collaboration (STC), a novel formalism for coordinating multi-agent systems under signal temporal logic (STL). STC defines critical inter-agent dependencies that may be violated by the cascading delays resulting from temporal relaxation, a common method for resolving local task conflicts. To address this issue, we first analyze the propagation of task delays through dependent tasks. A time interval refinement strategy is then proposed to maintain the required collaborations. This strategy is integrated into a distributed predictive control algorithm, ensuring simultaneous satisfaction of both STL specifications and STC relations while preserving recursive feasibility and closed-loop stability. Validation via a case study demonstrates the effectiveness of proposed strategy in preventing collaboration failures.</p>

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Enforcing spatio-temporal collaborations in distributed predictive control under temporally relaxed STL specifications

  • 期刊论文

  • 发表日期：

    2026年4月1日

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  • Hongbo Yang,
  • Yuanyuan Zou,
  • Shaoyuan Li

摘要

This paper introduces spatio-temporal collaboration (STC), a novel formalism for coordinating multi-agent systems under signal temporal logic (STL). STC defines critical inter-agent dependencies that may be violated by the cascading delays resulting from temporal relaxation, a common method for resolving local task conflicts. To address this issue, we first analyze the propagation of task delays through dependent tasks. A time interval refinement strategy is then proposed to maintain the required collaborations. This strategy is integrated into a distributed predictive control algorithm, ensuring simultaneous satisfaction of both STL specifications and STC relations while preserving recursive feasibility and closed-loop stability. Validation via a case study demonstrates the effectiveness of proposed strategy in preventing collaboration failures.