  While Golog is an expressive programming language to control the high-level
behavior of a robot, it is often tedious to use on a real robotic system. On an
actual robot, the user needs to consider low-level details, such as enabling
and disabling hardware components, e.g., a camera to detect objects for
grasping. In other words, high-level actions usually pose implicit temporal
constraints on the low-level platform, which are typically independent of the
concrete program to be executed. In this paper, we propose to make these
constraints explicit by modeling them as MTL formulas, which enforce the
execution of certain low-level platform operations in addition to the main
program. Based on results from timed automata controller synthesis, we describe
a method to synthesize a controller that executes both the high-level program
and the low-level platform operations concurrently in order to satisfy the MTL
specification. This allows the user to focus on the high-level behavior without
the need to consider low-level operations. We present an extension to Golog by
clocks together with the required theoretical foundations as well as
decidability results.
