Coupled Multi-Robot Systems Under Linear Temporal Logic and Signal Temporal Logic Tasks

摘要

This brief presents the implementation and experimental results of two frameworks for multi-agent systems under temporal logic tasks, which we have recently proposed. Each agent is subject to either a local linear temporal logic (LTL) or a local signal temporal logic (STL) task where each task may further be coupled, i.e., the satisfaction of a task may depend on more than one agent. The agents are represented by mobile robots with different sensing and actuation capabilities. We propose to combine the two aforementioned frameworks to use the strengths of both LTL and STL. For the implementation, we take into account practical issues, such as collision avoidance, and, in particular, for the STL framework, input saturation, the digital implementation of continuous-time feedback control laws, and a controllability assumption that was made in the original work. The experimental results contain three scenarios that show a wide variety of tasks.