This paper focuses on the heterogeneous multi-agent control problem under
global temporal logic tasks. We define a specification language, called
extended capacity temporal logic (ECaTL), to describe the required global
tasks, including the number of times that a local or coupled signal temporal
logic (STL) task needs to be satisfied and the synchronous requirements on task
satisfaction. The robustness measure for ECaTL is formally designed. In
particular, the robustness for synchronous tasks is evaluated from both the
temporal and spatial perspectives. Mixed-integer linear constraints are
designed to encode ECaTL specifications, and a two-step optimization framework
is further proposed to realize task-satisfied motion planning with high spatial
robustness and synchronicity. Simulations are conducted to demonstrate the
expressivity of ECaTL and the efficiency of the proposed control synthesis
approach.Comment: 7 pages, 3 figure