Utilizing Internal State in Multi-Robot Coordination Tasks

this paper, we address this issue by presenting a principled framework suitable for describing and reasoning about the intertwined entities involved in any task-achieving MRS -- the task environment, task definition, and the capabilities of the robots themselves. Using this framework, we present a systematic procedure by which to synthesize controllers for robots in a MRS such that a given sequential task is correctly executed. The MRS is composed of homogeneous robots capable of maintaining internal state but not capable of direct inter-robot communication. This systematic approach to the synthesis of coordinated MRS permits formal identification of the benefits and limitations of MRS composed of robots maintaining internal state and when other types of controllers may become necessary, such as those using communicatio