Controlling Autonomous Baker Robot Using Signal Temporal Logic and Control Barrier Functions

Abstract: Autonomous systems are slowly moving into the mainstream with things like self driving cars and autonomous robots in storage facilities already in use today. The aim of this project is to simulate a virtual bakery with a baker-robot (agent)that is able to complete recipes within strict deadlines.Signal temporal logic (STL) is used to define instructions that can be understood by the agent. In order to carry out these instructions, a control barrier function (CBF) is used.CBFs are time and state dependent, are used to describe the desired behavior of the agent, and are designer made. If the CBF corresponding to the task is non-negative from beginning to end during the task, the task has been completed successfully.A virtual robot was used in this project and was tasked with moving to and staying in different areas, which represents picking up and dropping off ingredients, all whilst staying within the boundaries of the bakery. The focus of this work is on completing the large amount (10+) of sequential tasks required to completea recipe. The CBF remained positive during the task, and the task was completed successfully.