Multi-robot Human-in-the-loop Control under Spatiotemporal Specifications

Yixiao Zhang,Victor Nan Fernandez-Ayala,Dimos V. Dimarogonas,Yixiao Zhang,Victor Nan Fernandez-Ayala,Dimos V. Dimarogonas

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 completion. To extend existing methodologies, our framework adeptly manages interactions among multiple...