Multi-Robot Motion Planning With Control Barrier Functions for Signal Temporal Logic Tasks

Sammanfattning: Autonomous robots have the potential to accomplisha wide variety of assignments. For this to work in reality, therobots need to be able to perform specific tasks while safety forboth them and their environment is ensured. Signal temporallogic (STL) was used to define timed tasks for the agents toperform and control barrier functions (CBFs) were used to designa controller for their movements. In this paper, a set of STL taskswere considered, which two robots were instructed to satisfy in asimulation of a warehouse environment. The two agents startednext to each other, then the set of tasks instructed them to move totwo separate areas, then meet up again and move in a formationback towards their starting area. Control barrier functions wereemployed to ensure the satisfaction of the set of STL tasks.The agents designed their actions towards satisfying the giventasks without considering a safety distance to the other robot atfirst. To later ensure safety, a collision avoidance mechanism wasintroduced. The scenario without collision avoidance proved moreeffective paths for the agents. They moved to satisfy the tasks withless disturbance than the scenario where collision avoidance wasconsidered. However, the scenario with the collision avoidancemechanism proved successful and the agents satisfied their taskswithout colliding with each other.