3 accepted papers
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottomup approach combining offline plan synthesis with online coordination, dynamically adjusting plans via real-time communication
In this work, we present a coordination strategy tailored for scenarios involving multiple agents and tasks. We devise a range of tasks using signal temporal logic (STL), each earmarked for specific agents. These tasks are then imposed through control barrier function (CBF) constraints to ensure com…
In this work, we propose a distributed control scheme for multi-robot systems in the presence of multiple constraints using control barrier functions. The proposed scheme expands previous work where only one single constraint can be handled. Here we show how to transform multiple constraints to a co…