Let's use $S(x,y)$ for '$y$ stays with $x$'
Then to say that exactly one of the three animals gets assigned to exactly one of the three people:
Dog1: $S(Antonio, dog) \lor S(Luis, dog) \lor S(Robert,dog)$
Dog2: $\neg(S(Antonio, dog) \land S(Luis, dog))$
Dog3: $\neg(S(Antonio, dog) \land S(Robert, dog))$
Dog4: $\neg(S(Luis, dog) \land S(Robert, dog))$
Cat1: $S(Antonio, cat) \lor S(Luis, cat) \lor S(Robert,cat)$
Cat2: $\neg(S(Antonio, cat) \land S(Luis, cat))$
Cat3: $\neg(S(Antonio, cat) \land S(Robert, cat))$
Cat4: $\neg(S(Luis, cat) \land S(Robert, cat))$
Canarie1: $S(Antonio, canarie) \lor S(Luis, canarie) \lor S(Robert,canarie)$
Canarie2: $\neg(S(Antonio, canarie) \land S(Luis, canarie))$
Canarie3: $\neg(S(Antonio, canarie) \land S(Robert, canarie))$
Canarie4: $\neg(S(Luis, canarie) \land S(Robert, canarie))$
Antonio1: $S(Antonio, dog) \lor S(Antonio, cat) \lor S(Antonio,canarie)$
Antonio2: $\neg(S(Antonio, dog) \land S(Antonio, cat))$
Antonio3: $\neg(S(Antonio, dog) \land S(Antonio, canarie))$
Antonio4: $\neg(S(Antonio, cat) \land S(Antonio, canarie))$
Luis1: $S(Luis, dog) \lor S(Luis, cat) \lor S(Luis,canarie)$
Luis2: $\neg(S(Luis, dog) \land S(Luis, cat))$
Luis3: $\neg(S(Luis, dog) \land S(Luis, canarie))$
Luis4: $\neg(S(Luis, cat) \land S(Luis, canarie))$
Robert1: $S(Robert, dog) \lor S(Robert, cat) \lor S(Robert,canarie)$
Robert2: $\neg(S(Robert, dog) \land S(Robert, cat))$
Robert3: $\neg(S(Robert, dog) \land S(Robert, canarie))$
Robert4: $\neg(S(Robert, cat) \land S(Robert, canarie))$
And then we are given:
$\neg S(Antonio, dog)$
$S(Robert, canarie) \rightarrow \neg S(Antonio,cat)$
$S(Luis, dog) \leftrightarrow S(Antonio, cat)$
And now:
$\qquad S(Antonio,cat)$ Assumption
$\qquad S(Luis,dog)$ (3,4)
$\qquad \neg S(Antonio,canarie)$ (4,Antonio4)
$\qquad \neg S(Luis,canarie)$ (5,Luis3)
$\qquad S(Robert,canarie)$ (6,7,Canarie1)
$\qquad \neg S(Antonio,cat)$ (2,8)
$\qquad \bot$ (1,9)
$\neg S(Antonio,cat)$ (4-10)
$S(Antonio,canarie)$ (1,11,Antonio1)
$\qquad S(Luis,dog)$ Assumption
$\qquad S(Antonio,cat)$ (3,13)
$\qquad \bot$ (11,14)
$\neg S(Luis,dog)$ (13-15)
$\neg S(Luis,canarie)$ (12,Canarie2)
$S(Luis,cat)$ (16,17,Luis1)
$S(Robert,dog)$ (1,16,Dog1)
So there! The canarie stays with Antonio, the cat with Luis, and the dog with Robert.
And by the way, since we have 9 different atomic variables, a truth-table would require $2^9=512$ rows!