Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks
This work addresses high-level task specification for robotics, but appears incremental as it builds on existing STL and control synthesis techniques.
The authors tackled the problem of synthesizing control for single and multi-robot tasks with timing constraints and environmental reactivity by proposing Event-based Signal Temporal Logic and a method combining automata and control barrier functions, demonstrating effectiveness through simulations and physical demonstrations.
We propose a new specification language and control synthesis technique for single and multi-robot high-level tasks; these tasks include timing constraints and reaction to environmental events. Specifically, we define Event-based Signal Temporal Logic (STL) and use it to encode tasks that are reactive to uncontrolled environment events. Our control synthesis approach to Event-based STL tasks combines automata and control barrier functions to produce robot behaviors that satisfy the specification when possible. Our method automatically provides feedback to the user if an Event-based STL task can not be achieved. We demonstrate the effectiveness of the framework through simulations and physical demonstrations of multi-robot tasks.