Online Modifications for Event-Based Signal Temporal Logic Specifications

In this letter 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 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.