Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks

TL;DR

This paper introduces Event-based Signal Temporal Logic (STL), a new specification language for high-level robot tasks with timing and environmental reaction constraints, along with a control synthesis method that ensures task satisfaction.

Contribution

The paper presents a novel Event-based STL and a control synthesis approach combining automata and barrier functions for reactive multi-robot task execution.

Findings

Successfully synthesized robot behaviors satisfying Event-based STL specifications.

Automatically detects infeasible tasks and provides user feedback.

Validated through simulations and physical multi-robot experiments.

Abstract

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.