Time Robust Model Predictive Control for Heterogeneous Multi-Agent Systems Under Global Temporal Logic Tasks

We consider the time-robust control problem for heterogeneous multi-agent systems under global temporal logic tasks. To enable more expressive task formulation, we introduce an extended capability temporal logic plus (ECaTL+), allowing for the specification of how many times an arbitrary signal temporal logic (STL) task needs to be satisfied. Time robust-ness for ECaTL+ is formally designed and transformed into mixed-integer linear constraints with only logarithmic integer variables with respect to task length being required. During runtime execution, we integrate a self-correction module based on event-triggered model predictive control (MPC) to predict and rectify potential task violations. Simulations are conducted to demonstrate the expressiveness of ECaTL+ and the efficiency of the proposed control synthesis approach.