MAPS2: Multi-robot autonomous motion planning under signal temporal logic specifications

Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas, Division of Decision and Control, School of EECS, KTH Royal Institute of Technology, Division of Signals and Systems, Department of Electrical Engineering, Uppsala University

The International Journal of Robotics Research

Published online on December 04, 2025

Abstract

The International Journal of Robotics Research, Ahead of Print.
This article presents MAPS2: a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either adopt a limited ...