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. ; QC 20201113
Coupled Multi-Robot Systems Under Linear Temporal Logic and Signal Temporal Logic Tasks
2021-01-01
Scopus 2-s2.0-85086004466
Article (Journal)
Electronic Resource
English
Autonomous mobile robots , Collision avoidance , Couplings , decentralized robotic networks , Feedback control , formal methods-based control synthesis , linear temporal logic (LTL) , Mobile robots , Multi-agent systems , signal temporal logic (STL) , Task analysis , Computer circuits , Continuous time systems , Mobile agents , Multi agent systems , Multipurpose robots , Actuation capability , Continuous-time , Digital implementation , Feedback control law , Input saturation , Linear temporal logic , Multi-robot systems , Practical issues , Temporal logic , Control Engineering , Reglerteknik
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