Planning for heterogeneous teams of robots with temporal logic, capability, and resource constraints

This paper presents a comprehensive approach for planning for teams of heterogeneous robots with different capabilities and the transportation of resources. We use Capability Temporal Logic (CaTL), a formal language that helps express tasks involving robots with multiple capabilities with spatial, temporal, and logical constraints. We extend CaTL to also capture resource constraints, where resources can be divisible and indivisible, for instance, sand and bricks, respectively. Robots transport resources using various storage types, such as uniform (shared storage among resources) and compartmental (individual storage per resource). Robots' resource transportation capacity is defined based on resource type and robot class. Robot and resource dynamics and the CaTL mission are jointly encoded in a Mixed Integer Linear Programming (MILP), which maximizes disjoint robot and resource robustness while minimizing spurious movement of both. We propose a multi-robustness approach for Multi-Class Signal Temporal Logic (mcSTL), allowing for generalized quantitative semantics across multiple predicate classes. Thus, we compute availability robustness scores for robots and resources separately. Finally, we conduct multiple experiments demonstrating functionality and time performance by varying resources and storage types.