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

  title={Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks},
  author={David Gundana and Hadas Kress-Gazit},
  journal={IEEE Robotics and Automation Letters},
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… Expand

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