We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^\psi, which uses the concept of bindings to interleave robot actions and express information about relationship between specific task requirements and robot assignments. We present a synthesis approach to automatically generate a teaming assignment and corresponding discrete behavior that is correct-by-construction for continuous execution, while also implementing synchronization policies to ensure collaborative portions of the task are satisfied. We demonstrate our approach on a physical multi-robot system.

翻译：我们提出了一种异构多机器人系统的控制综合框架，以满足可能需不同持续时间完成的协作任务。我们使用离散逻辑LTL^ψ对任务进行编码，该逻辑利用绑定概念来交错机器人动作，并表达特定任务需求与机器人分配之间的关系信息。我们提出了一种综合方法，能自动生成团队分配方案及相应的离散行为，该行为在构造上保证适用于持续执行，同时通过实施同步策略确保任务中协作部分的达成。我们在一个实体多机器人系统上验证了所提方法。