In this paper, we investigate the coordination of a multi-agent system to achieve a high level plan. In, particular, we assume that this planning is decomposed in a sequence of simple control objectives. The coordination is carried out through event-based communications between the agents, and distributed control laws are synthesized to achieve each control objective according to a time-constraint. All the elements (planning, motion, and communication) are integrated in a hybrid systems framework, which also allows to conclude about the achievement of the high level plan.
Download Full PDF Version (Non-Commercial Use)