The existing multi-agent collaborative control methods based on temporal logic tasks usually adopt formal language to describe the temporal task, convert it into an automaton, multiplicate it with the environment model, and finally complete task planning by performing graph-search in the product automata. The advantages and disadvantages of existing methods are compared and summarized in this paper; Starting from the commonly used control methods which have combined temporal logic languages, the development of three key technologies, namely man-machine fusion heterogeneous team control method, system's robust control of task violation degree and coupling task assignment between human-machine collaboration tasks, are emphatically sorted out. Meanwhile, the good performance of emerging temporal languages such as TSTL in human-machine fusion architecture is also reviewed. Finally, an in-depth analysis was conducted on the scientific and technological bottlenecks in current research on collaborative control, including difficulty in task description, decoupling allocation, and large online computing load. These bottleneck issues which urgently need to be solved in the future development, have become the main study trend of this field in the future.

human-machine fusion  /  temporal logic  /  heterogeneous multi-agent  /  collaborative control