论文标题
基于事件的单个和多机器人任务的信号时间逻辑综合
Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks
论文作者
论文摘要
我们为单个和多机器人高级任务提出了一种新的规范语言和控制综合技术；这些任务包括时间限制和对环境事件的反应。具体而言，我们定义了基于事件的信号时间逻辑（STL），并使用它来编码对不受控制的环境事件反应的任务。我们对基于事件的STL任务的控制合成方法结合了自动机和控制屏障功能，以产生在可能的情况下满足规范的机器人行为。如果无法实现基于事件的STL任务，我们的方法将自动向用户提供反馈。我们通过模拟和多机器人任务的物理演示来证明框架的有效性。
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.
