Coupled Multi-Robot Systems under LinearTemporal Logic and Signal Temporal Logic Tasks

This paper presents the implementation and experi-mental results of two frameworks for multi-agent systems undertemporal logic tasks, which we have recently proposed. Eachagent is subject to either a local linear temporal logic or alocal signal temporal logic task where each task may furtherbe coupled, i.e., satisfaction of a task may depend on morethan one agent. The agents are represented by mobile robotswith different sensing and actuation capabilities. We propose tocombine the two aforementioned frameworks to use the strengthsof both linear temporal logic and signal temporal logic. For theimplementation, we take into account practical issues such ascollision avoidance and, in particular for the signal temporallogic framework, input saturations, the digital implementationof continuous-time feedback control laws, and a controllabilityassumption that was made in the original work. The experimentalresults contain three scenarios that show a wide variety of tasks.QC 20201124