  We study the problem of controlling multi-agent systems under a set of signal
temporal logic tasks. Signal temporal logic is a formalism that is used to
express time and space constraints for dynamical systems. Recent methods to
solve the control synthesis problem for single-agent systems under signal
temporal logic tasks are, however, subject to a high computational complexity.
Methods for multi-agent systems scale at least linearly with the number of
agents and induce even higher computational burdens. We propose a
computationally-efficient control strategy to solve the multi-agent control
synthesis problem that results in a robust satisfaction of a set of signal
temporal logic tasks. In particular, a decentralized feedback control law is
proposed that is based on time-varying control barrier functions. The obtained
control law is discontinuous and formal guarantees are provided by nonsmooth
analysis. Simulations show the efficacy of the presented method.
