  In this paper, we develop a computational framework for fully automatic
deployment of a team of unicycles from a global specification given as an LTL
formula over some regions of interest. Our hierarchical approach consists of
four steps: (i) the construction of finite abstractions for the motions of each
robot, (ii) the parallel composition of the abstractions, (iii) the generation
of a satisfying motion of the team; (iv) mapping this motion to individual
robot control and communication strategies. The main result of the paper is an
algorithm to reduce the amount of inter-robot communication during the fourth
step of the procedure.
