  We propose a control synthesis framework for a heterogeneous multi-robot
system to satisfy collaborative tasks, where actions may take varying duration
of time to complete. We encode tasks using the discrete logic LTL^\psi, which
uses the concept of bindings to interleave robot actions and express
information about relationship between specific task requirements and robot
assignments. We present a synthesis approach to automatically generate a
teaming assignment and corresponding discrete behavior that is
correct-by-construction for continuous execution, while also implementing
synchronization policies to ensure collaborative portions of the task are
satisfied. We demonstrate our approach on a physical multi-robot system.
