In this paper we present a grammar and control synthesis framework for online modification of Event-based Signal Temporal Logic (STL) specifications, during execution. These modifications allow a user to change the robots' task in response to potential future violations, changes to the environment, or user-defined task design changes. In cases where a modification is not possible, we provide feedback to the user and suggest alternative modifications. We demonstrate our task modification process using a Hello Robot Stretch satisfying an Event-based STL specification.

翻译：本文提出了一种语法与控制综合框架，用于在执行过程中在线修改基于事件的信号时序逻辑（Event-based Signal Temporal Logic, STL）规范。这些修改允许用户根据未来可能发生的违规情况、环境变化或用户定义的任务设计变更，调整机器人的任务。若修改不可行，我们将向用户提供反馈并建议替代修改方案。我们通过一台满足基于事件的STL规范的Hello Robot Stretch机器人，演示了任务修改过程。