The research paper discusses the use of Signal Temporal Logic (STL) in creating temporally robust motion plans for multi-agent systems. STL allows the specification of complex spatial and temporal system requirements, such as ensuring agents remain within a certain distance of each other during specific time intervals. The authors present an algorithm that generates continuous-time temporally robust trajectories, demonstrating a significant speed increase compared to existing methods. The focus is on maximizing temporal robustness, which is the allowable time shifts in each agent’s trajectory while still satisfying the STL specification.
Publication date: 18 Oct 2023
Project Page: Unknown
Paper: https://arxiv.org/pdf/2310.10585
