A minimal BV action for Vasiliev's four-dimensional higher spin gravity

The action principle for Vasiliev's four-dimensional higher-spin gravity proposed recently by two of the authors, is converted into a minimal BV master action using the AKSZ procedure, which amounts to replacing the classical differential forms by vectorial superfields of fixed total degree given by the sum of form degree and ghost number. The nilpotency of the BRST operator is achieved by imposing boundary conditions and choosing appropriate gauge transitions between charts leading to a globally-defined formulation based on a principal bundle.