Year: 2021
Type: article
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 cannot be achieved. We demonstrate the effectiveness of the framework through simulations and physical demonstrations of multi-robot tasks.
Authors: David Gundana, Hadas Kress-Gazit
Institution: Cornell University
Language: English
Subfield: Computational Theory and Mathematics
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
Funder: National Science Foundation
OpenAlex ID: W3097154153