Multi-Robot Motion Planning Under High-Level Task Specifications

Sammanfattning: This bachelor thesis explores the use of Signal Temporal Logic (STL) and ControlBarrier Functions (CBFs) to address the challenges associated with multi-robot motionplanning under high-level task specifications. STL is a formalism used to specify temporalproperties of signals, while CBFs are used to enforce safety constraints. The control law forgrape-harvesting robots in a vineyard is developed using STL and CBFs to ensure that therobots' trajectories satisfy the high-level task specifications by converting them to safetyconstraints. This approach allows for the systematic design of motion planning algorithmsthat guarantee task completion thanks to the use of safety-critical control. The resultingalgorithm has been simulated in Python for the working system. Even though the system thatwas created did not become perfect it works for all reasonable high-level tasks given.