Distributed MPC With Continuous-Time STL Constraint Satisfaction Guarantees

In this letter a distributed model predictive control scheme (dMPC) is proposed for a multi-agent team that is subject to a set of time-constrained spatial tasks encoded in Signal Temporal Logic (STL). Here, the agents are subject to both individual and collaborative STL tasks. In order to ensure the satisfaction of the collaborative tasks while avoiding the computational burden of a centralized problem, we propose a sequential dMPC scheme and show the recursive feasibility property of the framework given appropriately designed terminal ingredients. The resulting MPC problems are solved in discrete-time yet continuous-time satisfaction of the STL tasks is ensured with appropriate tightening of the constraint sets.