# Temporal Logic Task Planning and Intermittent Connectivity Control of Mobile Robot Networks

## TL;DR

This paper presents a distributed framework enabling mobile robot teams to accomplish complex temporal logic tasks while managing intermittent communication through optimal meeting points, ensuring information exchange despite unreliable connectivity.

## Contribution

It introduces a novel distributed control approach integrating task planning with intermittent communication management for mobile robots.

## Key findings

- Simulation results confirm the effectiveness of the proposed controllers.
- The framework ensures task completion and information sharing under limited communication.
- Optimal communication locations reduce the overall communication cost.

## Abstract

In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the collected information with all other robots and possibly also with a user. Specifically, we consider situations where the robot communication capabilities are not sufficient to form reliable and connected networks while the robots move to accomplish their tasks. In this case, intermittent communication protocols are necessary that allow the robots to temporarily disconnect from the network in order to accomplish their tasks free of communication constraints. We assume that the robots can only communicate with each other when they meet at common locations in space. Our distributed control framework jointly determines local plans that allow all robots fulfill their assigned temporal tasks, sequences of communication events that guarantee information exchange infinitely often, and optimal communication locations that minimize a desired distance metric. Simulation results verify the efficacy of the proposed controllers.