  This paper addresses the problem of decentralized abstractions for multiple
mobile manipulators with 2nd order dynamics. In particular, we propose
decentralized controllers for the navigation of each agent among predefined
regions of interest in the workspace, while guaranteeing at the same time
inter-agent collision avoidance and connectivity maintenance for a subset of
initially connected agents. In that way, the motion of the coupled multi-agent
system is abstracted into multiple finite transition systems for each agent,
which are then suitable for the application of temporal logic-based high level
plans. The proposed methodology is decentralized, since each agent uses local
information based on limited sensing capabilities. Finally, simulation studies
verify the validity of the approach.
