Multi-Robot Trajectory Planning via Constrained Bayesian Optimization and Local Cost Map Learning with STL-Based Conflict Resolution

• URL: http://arxiv.org/abs/2603.05767v1
• Date: Fri, 06 Mar 2026 00:03:18 GMT
• Title: Multi-Robot Trajectory Planning via Constrained Bayesian Optimization and Local Cost Map Learning with STL-Based Conflict Resolution
• Abstract summary: We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints.<n>We propose a two-stage framework integrating sampling-based online learning with formal STL reasoning.
• Score: 1.6243762297989983
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conventional sampling-based methods require excessive samples to construct optimal trajectories. We propose a two-stage framework integrating sampling-based online learning with formal STL reasoning. At the single-robot level, our constrained Bayesian Optimization-based Tree search (cBOT) planner uses a Gaussian process as a surrogate model to learn local cost maps and feasibility constraints, generating shorter collision-free trajectories with fewer samples. At the multi-robot level, our STL-enhanced Kinodynamic Conflict-Based Search (STL-KCBS) algorithm incorporates STL monitoring into conflict detection and resolution, ensuring specification satisfaction while maintaining scalability and probabilistic completeness. Benchmarking demonstrates improved trajectory efficiency and safety over existing methods. Real-world experiments with autonomous surface vehicles validate robustness and practical applicability in uncertain environments. The STLcBOT Planner will be released as an open-source package, and videos of real-world and simulated experiments are available at https://stlbot.github.io/.

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