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

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 f...

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Bibliographic Details
Published inIEEE transactions on control systems technology Vol. 29; no. 2; pp. 858 - 865
Main Authors Lindemann, Lars, Nowak, Jakub, Schonbachler, Lukas, Guo, Meng, Tumova, Jana, Dimarogonas, Dimos V.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.03.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuation
Actuation capability
Autonomous mobile robots
Collision avoidance
Computer circuits
Continuous time systems
Continuous-time
Controllability
Couplings
decentralized robotic networks
Digital implementation
Feedback control
Feedback control law
formal methods-based control synthesis
Input saturation
Linear temporal logic
linear temporal logic (LTL)
Mobile agents
Mobile robots
Multi agent systems
Multi-robot systems
Multiagent systems
Multiple robots
Multipurpose robots
Practical issues
signal temporal logic (STL)
Stability
Task analysis
Temporal logic
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Summary: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.
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ISSN:1063-6536
1558-0865
1558-0865
DOI:10.1109/TCST.2019.2955628