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Online Modifications for Event-based Signal Temporal Logic Specifications

03/31/2023

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by David Gundana, et al.

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In this paper 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 design 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 satisfying an Event-based STL specification.

David Gundana
2 publications
Hadas Kress-Gazit
17 publications

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