Multi-Robot Trajectory Planning via Constrained Bayesian Optimization and Local Cost Map Learning with STL-Based Conflict Resolution

TL;DR

This paper introduces a two-stage framework combining constrained Bayesian optimization and STL-based conflict resolution for efficient, safe multi-robot trajectory planning under complex specifications, validated through simulations and real-world tests.

Contribution

It presents a novel integrated approach that enhances scalability, efficiency, and safety in multi-robot motion planning with STL constraints using learning-based and formal methods.

Findings

Reduced sample complexity in trajectory generation

Improved safety and efficiency over existing methods

Validated robustness in real-world experiments

Abstract

We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conventional sampling-based methods require excessive samples to construct optimal trajectories. We propose a two-stage framework integrating sampling-based online learning with formal STL reasoning. At the single-robot level, our constrained Bayesian Optimization-based Tree search (cBOT) planner uses a Gaussian process as a surrogate model to learn local cost maps and feasibility constraints, generating shorter collision-free trajectories with fewer samples. At the multi-robot level, our STL-enhanced Kinodynamic Conflict-Based Search (STL-KCBS) algorithm incorporates STL monitoring into conflict detection and resolution, ensuring specification satisfaction while maintaining scalability and probabilistic completeness. Benchmarking demonstrates improved trajectory efficiency and safety over existing methods. Real-world experiments with autonomous surface vehicles validate robustness and practical applicability in uncertain environments. The STLcBOT Planner will be released as an open-source package, and videos of real-world and simulated experiments are available at https://stlbot.github.io/.