  This paper develops a controller synthesis approach for a multi-agent system
(MAS) with intermittent communication. We adopt a leader-follower scheme, where
a mobile leader with absolute position sensors switches among a set of
followers without absolute position sensors to provide each follower with
intermittent state information.We model the MAS as a switched system. The
followers are to asymptotically reach a predetermined consensus state. To
guarantee the stability of the switched system and the consensus of the
followers, we derive maximum and minimal dwell-time conditions to constrain the
intervals between consecutive time instants at which the leader should provide
state information to the same follower. Furthermore, the leader needs to
satisfy practical constraints such as charging its battery and staying in
specific regions of interest. Both the maximum and minimum dwell-time
conditions and these practical constraints can be expressed by metric temporal
logic (MTL) specifications. We iteratively compute the optimal control inputs
such that the leader satisfies the MTL specifications, while guaranteeing
stability and consensus of the followers. We implement the proposed method on a
case study with three mobile robots as the followers and one quadrotor as the
leader.
