We propose a new specification language and control synthesis technique for single and multi-robot high-level tasks; these tasks include timing constraints and reaction to environmental events. Specifically, we define Event-based Signal Temporal Logic (STL) and use it to encode tasks that are reactive to uncontrolled environment events. Our control synthesis approach to Event-based STL tasks combines automata and control barrier functions to produce robot behaviors that satisfy the specification when possible. Our method automatically provides feedback to the user if an Event-based STL task can not be achieved. We demonstrate the effectiveness of the framework through simulations and physical demonstrations of multi-robot tasks.

翻译：我们为单一和多机器人高级别任务提出了新的规格语言和控制综合技术;这些任务包括时间限制和环境事件的反应。具体地说,我们界定了基于事件的信号时空逻辑(STL),并用它来编码对不受控制的环境事件作出反应的任务。我们对基于事件的STL任务采取的控制综合方法结合了自动化和控制屏障功能,以便产生符合规格的机器人行为。如果无法完成基于事件的STL任务,我们的方法会自动向用户提供反馈。我们通过模拟和多机器人任务的实际演示来证明框架的有效性。