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

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 reacti...

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Vydané v:IEEE robotics and automation letters Ročník 6; číslo 2; s. 3687 - 3694
Hlavní autori: Gundana, David, Kress-Gazit, Hadas
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Piscataway IEEE 01.04.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
Automata
Automation
Control systems
Formal methods in robotics and automation
hybrid logical/dynamical planning and verification
Logic synthesis
Multi-robot systems
Multiple robots
Robot kinematics
Robots
Semantics
Specification and description languages
Specifications
Task analysis
Temporal logic
Timing
ISSN:2377-3766, 2377-3766
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Popis
Shrnutí: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 cannot be achieved. We demonstrate the effectiveness of the framework through simulations and physical demonstrations of multi-robot tasks.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2021.3064220