Energy-Aware Planning of Heterogeneous Multi-Agent Systems for Serving Cooperative Tasks with Temporal Logic Specifications
Ali Tevfik Buyukkocak,Derya Aksaray,Yasin Yazıcıoğlu,Ali Tevfik Buyukkocak,Derya Aksaray,Yasin Yazıcıoğlu
We address a coordination problem for a team of heterogeneous and energy-limited agents to achieve cooperative tasks given as team-level spatio-temporal specifications. We assume that agents have stochastic energy dynamics and do not have identical capabilities. We define the team-level specification using Signal Temporal Logic (STL) with integral predicates, which can express tasks that can be co...
