Distributed Multi-Agent Persistent Surveillance Under Temporal Logic Constraints∗

We consider the problem of finding optimal agent trajectories for persistent surveillance missions subject to temporal logic (TL) constraints. Specifically, we aim to minimize the time between two consecutive visits to regions of interest in a partitioned environment while satisfying each agent's TL specification. We formulate a distributed optimization problem, where each agent plans its trajectory based only on local information. We use a formal methods approach to show that any trajectory resulting from the proposed controller satisfies the corresponding TL constraints. The results are illustrated through simulations by comparing the proposed strategy with a joint planner and a planner without communication.