  Because of the scalability issues associated with the symbolic controller
synthesis approach, employing it in a multi-agent system (MAS) framework
becomes difficult. In this paper, we present a novel approach for synthesizing
distributed symbolic controllers for MAS, that enforces a local Linear Temporal
Logic (LTL) specification on each agent and global safety specifications on the
MAS, in a computationally efficient manner by leveraging the concept of control
barrier functions (CBF). In addition, we also provide an analysis on the effect
of the CBF parameters on the conservatism introduced by our proposed approach
in the size and domain of the synthesized controller. The effectiveness of this
approach is demonstrated through a comparison with the conventional monolithic
symbolic control, using simulation as well as hardware demonstrations.
