Optimal Control Synthesis with Relaxed Global Temporal Logic Specifications for Homogeneous Multi-robot Teams
Disha Kamale,Cristian-Ioan Vasile,Disha Kamale,Cristian-Ioan Vasile
In this work, we address the problem of control synthesis for a homogeneous team of robots given a global temporal logic specification and formal user preferences for relaxation in case of infeasibility. The relaxation preferences are represented as a Weighted Finite-state Edit System and are used to compute a relaxed specification automaton that captures all allowable relaxations of the mission s...
