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Given a heterogeneous group of robots executing a complex task represented inLinear Temporal Logic, and a new set of tasks for the group, we define the taskupdate problem and propose a framework for automatically updating individualrobot tasks given their respective existing tasks and capabilities. Ourheuristic, token-based, conflict resolution task allocation algorithm generatesa near-optimal assignment for the new task. We demonstrate the scalability ofour approach through simulations of multi-robot tasks.

Automated Task Updates of Temporal Logic Specifications for Heterogeneous Robots