# Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams

arXiv: https://arxiv.org/abs/2406.18019 · HTML: https://mlsanity.com/paper/2406.18019/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Jun 2024.

## Built on by (most cited first, 1 of 1)

- [ConformalNL2LTL: Translating Natural Language Instructions into Temporal Logic Formulas with Conformal Correctness Guarantees](https://mlsanity.com/paper/2504.21022/) (2025)

## Abstract (arXiv)

We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^psi, which uses the concept of bindings to interleave robot actions and express information about relationship between specific task requirements and robot assignments. We present a synthesis approach to automatically generate a teaming assignment and corresponding discrete behavior that is correct-by-construction for continuous execution, while also implementing synchronization policies to ensure collaborative portions of the task are satisfied. We demonstrate our approach on a physical multi-robot system.