  Continuum deformation is a leader-follower multiagent cooperative control
approach. Previous work showed a desired continuum deformation can be uniquely
defined based on trajectories of d +1 leaders in a d-dimensional motion space
and acquired by followers through local inter-agent communication. This paper
formally specifies continuum deformation coordination in an obstacle-laden
environment. Using linear temporal logic (LTL), continuum deformation liveness
and safety requirements are defined. Safety is prescribed by providing
conditions on (i) agent deviation bound, (ii) inter-agent collision avoidance,
(iii) agent containment, (iv) motion space containment, and (v) obstacle
collision avoidance. Liveness specifies a reachability condition on the desired
final formation.
