  The problem of time-constrained multi-agent task scheduling and control
synthesis is addressed. We assume the existence of a high level plan which
consists of a sequence of cooperative tasks, each of which is associated with a
deadline and several Quality-of-Service levels. By taking into account the
reward and cost of satisfying each task, a novel scheduling problem is
formulated and a path synthesis algorithm is proposed. Based on the obtained
plan, a distributed hybrid control law is further designed for each agent.
Under the condition that only a subset of the agents are aware of the high
level plan, it is shown that the proposed controller guarantees the
satisfaction of time constraints for each task. A simulation example is given
to verify the theoretical results.
