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

Figures from this paper

Unified Multi-Rate Control: from Low Level Actuation to High Level Planning
The proposed hierarchical multi-rate control architecture maximizes the probability of satisfying the high-level specifications while guaranteeing state and input constraint satisfaction and is tested in simulations and experiments on examples inspired by the Mars exploration mission. Expand
Neural Network for Weighted Signal Temporal Logic
A neuro-symbolic framework called weighted Signal Temporal Logic Neural Network (wSTL-NN) that combines the characteristics of neural networks and temporal logics is proposed and applied to an occupancy detection time-series dataset to learn a classifier that predicts the occupancy status of an office room. Expand
Reactive and Risk-Aware Control for Signal Temporal Logic
This work proposes reactive risk signal interval temporal Logic (ReRiSITL) as an extension of signal temporal logic (STL) to formulate complex spatiotemporal specifications that allow to consider uncontrollable propositions that may model humans as well as random environmental events such as sensor failures. Expand
Study of Signal Temporal Logic Robustness Metrics for Robotic Tasks Optimization
It is shown how STL-based cost functions can be optimized using a variety of off-the-shelf optimizers and discussed a case study showing the advantages of using STL to define complex constraints. Expand


Reactive synthesis from signal temporal logic specifications
We present a counterexample-guided inductive synthesis approach to controller synthesis for cyber-physical systems subject to signal temporal logic (STL) specifications, operating in potentiallyExpand
Automatic synthesis of multi-agent motion tasks based on LTL specifications
  • S. Loizou, K. Kyriakopoulos
  • Computer Science
  • 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)
  • 2004
A methodology for automatically synthesizing motion task controllers based on linear temporal logic (LTL) specifications that combines the continuous dynamics of the underlying system with the automatically synthesized switching logic that enforces the LTL specification. Expand
Efficient Automata-based Planning and Control under Spatio-Temporal Logic Specifications
This work considers efficient automata-based planning for continuous-time systems under signal interval temporal logic specifications, an expressive fragment of signal temporal logic. Expand
Verifiable Control of Robotic Swarm from High-level Specifications
This paper focuses on provably-correct controller synthesis from high-level specifications and demonstrates the flexibility and versatility of the control paradigm by applying it to three different examples of swarm systems with two different types of robots. Expand
Synthesis for Robots: Guarantees and Feedback for Robot Behavior
The current state of formal synthesis for robotics is reviewed and the landscape of abstractions, specifications, and synthesis algorithms that enable it is surveyed. Expand
Control Barrier Functions for Multi-Agent Systems Under Conflicting Local Signal Temporal Logic Tasks
This work proposes a hybrid feedback control strategy using time-varying control barrier functions that finds least violating solutions in the aforementioned conflicting situations based on a suitable robustness notion and by initiating collaboration among agents. Expand
Synthesis for multi-robot controllers with interleaved motion
  • V. Raman, H. Kress-Gazit
  • Engineering, Computer Science
  • 2014 IEEE International Conference on Robotics and Automation (ICRA)
  • 2014
The proposed approach relaxes constraints on the simultaneous and interleaved motion of the robots, while maintaining constraints on their relative location to guarantee collision-avoidance and prevent deadlock. Expand
Control Barrier Functions for Signal Temporal Logic Tasks
A framework that is based on control barrier functions and signal temporal logic is proposed, where the temporal properties are used to satisfy signal temporal Logic tasks and the resulting controller is given by a switching strategy between a computationally-efficient convex quadratic program and a local feedback control law. Expand
Communication-aware motion planning for multi-agent systems from signal temporal logic specifications
The proposed synthesis framework consists of desired motion specifications in temporal logic (STL) formulas and a local motion controller that ensures the underlying agent not only to accomplish the local specifications but also to avoid collisions with other agents or possible obstacles, while maintaining an optimized communication quality of service (QoS) among the agents. Expand
Decentralized multi-agent control from local LTL specifications
We propose a methodology for decentralized multi-agent control from Linear Temporal Logic (LTL) specifications. Each agent receives an independent specification to formally synthesize its own hybridExpand