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This paper introduces a matrix signal temporal logic (mSTL) based framework for multi-agent multi-task allocation, simplifying temporal constraint encoding without restrictive assumptions. Key innovations include: a Boolean decision variable decoupling allocation from task completion; a Boolean matrix group reducing temporal encoding complexity; and the definition of mSTL, which reformulates constraints like cooperation, order, and duration. The method is formulated as a mixed-integer linear programming problem and validated numerically.

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Matrix STL: Concise Temporal Logic Rule for Complex Task Allocation

  • 会议论文

  • 发表日期：

    2026年

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  • Yi Zhang,
  • Qiang Shen,
  • Shufan Wu

摘要

This paper introduces a matrix signal temporal logic (mSTL) based framework for multi-agent multi-task allocation, simplifying temporal constraint encoding without restrictive assumptions. Key innovations include: a Boolean decision variable decoupling allocation from task completion; a Boolean matrix group reducing temporal encoding complexity; and the definition of mSTL, which reformulates constraints like cooperation, order, and duration. The method is formulated as a mixed-integer linear programming problem and validated numerically.