Related papers: Minimum-violation LTL Planning with Conflicting Sp…
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
This paper addresses a motion planning problem to achieve spatio-temporal-logical tasks, expressed by syntactically co-safe linear temporal logic specifications (scLTL\next), in uncertain environments. Here, the uncertainty is modeled as…
We present a method to find an optimal policy with respect to a reward function for a discounted Markov decision process under general linear temporal logic (LTL) specifications. Previous work has either focused on maximizing a cumulative…
In previous work, we proposed a Runtime Enforcement Approach to deal with timing properties in motorway traffic, which are present in form of Timed Multi-Lane Spatial Logic (TMLSL) formulae, a logic tailored to express both spatial and…
In this paper, we focus on formal synthesis of control policies for finite Markov decision processes with non-negative real-valued costs. We develop an algorithm to automatically generate a policy that guarantees the satisfaction of a…
This paper investigates a collaborative rover-copter path planning and exploration with temporal logic specifications under uncertain environments. The objective of the rover is to complete a mission expressed by a syntactically co-safe…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…
For safe operation, autonomous vehicles have to obey traffic rules that are set forth in legal documents formulated in natural language. Temporal logic is a suitable concept to formalize such traffic rules. Still, temporal logic rules often…
We consider the problem of security-aware planning in an unknown stochastic environment, in the presence of attacks on control signals (i.e., actuators) of the robot. We model the attacker as an agent who has the full knowledge of the…
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…
We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot…
This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…
Reinforcement learning (RL) is a popular approach for robotic path planning in uncertain environments. However, the control policies trained for an RL agent crucially depend on user-defined, state-based reward functions. Poorly designed…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level logical and timing requirements while respecting low-level…
Complying with traffic rules is challenging for automated vehicles, as numerous rules need to be considered simultaneously. If a planned trajectory violates traffic rules, it is common to replan a new trajectory from scratch. We instead…
Robotic exploration or monitoring missions require mobile robots to autonomously and safely navigate between multiple target locations in potentially challenging environments. Currently, this type of multi-goal mission often relies on…
In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…
We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…