MAPS $ ^2 $: Multi-Robot Autonomous Motion Planning under Signal Temporal Logic Specifications

Preprint Link

The MAPS $ ^2 $ algorithm generates trajectories for multi-robot system under signal temporal logic constraints. The types of STL formulas currently supported are expressed as: $$ \varphi = \mu\ |\ \mathcal{G}{[a,b]} \mu \ |\ \mathcal{F}{[a,b]} \mu \ |\ \varphi_1 \land \varphi_2 \ |\ \mathcal{G}{[a_1,b_1]}\mathcal{F}{[a_2,b_2]} \mu \ |\ \mathcal{F}{[a_1,b_1]}\mathcal{G}{[a_2,b_2]} \mu $$

where $ \mu $ is any nonlinear predicate function predicate function.

Prerequisites

Please ensure you have the following installed:

• Python 3.8 or later
• Required Python libraries: matplotlib, numpy, scipy (Install these via pip if not already installed)

pip install matplotlib numpy scipy

Getting Started

Run the following script with an example STL formula in it. Configure the STL formula and the initial conditions as desired.

python run_script.py