In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range of time varying and complex spatial configurations, and develop a method to encode such formal specifications as a set of mixed integer linear constraints, which are incorporated into a mixed integer linear programming problem. We plan trajectories for each individual robot such that the whole swarm satisfies the spatio-temporal requirements, while optimizing total robot movement and/or a metric that shows how strongly the swarm trajectory resembles given spatio-temporal behaviors. An illustrative case study is included.
Approximation-free Control for Signal Temporal Logic Specifications using Spatiotemporal Tubes
Robert Bosch Centre for Cyber-Physical Systems（罗伯特博世网络物理系统中心）；Department of Electrical Engineering, IISc（印度科学学院电气工程系）；BITS Pilani, Goa（比拉尼理工学院皮亚尼校区果阿分校）
Iowa State University（爱荷华州立大学）；Scuola Superiore Meridionale（南方高等学院）；Georgia Institute of Technology（佐治亚理工学院）；University of California Santa Cruz（加州大学圣克鲁兹分校）
LLM-Enabled Low-Altitude UAV Natural Language Navigation via Signal Temporal Logic Specification Translation and Repair
Guangdong Provincial Key Laboratory of Space-Aerial Networking and Intelligent Sensing, Harbin Institute of Technology, Shenzhen（广东省空天网络与智能感知重点实验室，哈尔滨工业大学（深圳））；Peng Cheng Laboratory (PCL), Shenzhen（鹏城实验室）；Information Systems Technology and Design, Singapore University of Technology and Design（新加坡科技设计大学信息系统技术与设计系）；School of Computer Science and Engineering, Central South University, Changsha（中南大学计算机科学与工程学院）
