  This paper presents a hybrid control framework for the motion planning of a
multi-agent system including N robotic agents and M objects, under high level
goals. In particular, we design control protocols that allow the transition of
the agents as well as the transportation of the objects by the agents, among
predefined regions of interest in the workspace. This allows us to abstract the
coupled behavior of the agents and the objects as a finite transition system
and to design a high-level multi-agent plan that satisfies the agents' and the
objects' specifications, given as temporal logic formulas. Simulation results
verify the proposed framework.
