Communication-Constrained STL Task Decomposition through Convex Optimization

Abstract

In this work, we propose a method to decompose signal temporal logic (STL) tasks for multi-agent systems subject to constraints imposed by the communication graph. Specifically, we propose to decompose tasks defined over multiple agents which require multi-hop communication, by a set of sub-tasks defined over the states of agents with 1-hop distance over the communication graph. To this end, we parameterize the predicates of the tasks to be decomposed as suitable hyper-rectangles. Then, we show that by solving a constrained convex optimization, optimal parameters maximising the volume of the predicate's super-level sets can be computed for the decomposed tasks. In addition, we provide a formal definition of conflicting conjunctions of tasks for the considered STL fragment and a formal procedure to exclude such conjunctions from the solution set of possible decompositions. The proposed approach is demonstrated through simulations.