Related papers: Extended LTLvis Motion Planning interface (Extende…
Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This work aims to leverage these new capabilities with an…
Temporal logic can be used to formally specify autonomous agent goals, but synthesizing planners that guarantee goal satisfaction can be computationally prohibitive. This paper shows how to turn goals specified using a subset of finite…
Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Cooking recipes are challenging to translate to robot plans as they feature rich linguistic complexity, temporally-extended interconnected tasks, and an almost infinite space of possible actions. Our key insight is that combining a source…
We propose a new task-specification language for Markov decision processes that is designed to be an improvement over reward functions by being environment independent. The language is a variant of Linear Temporal Logic (LTL) that is…
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…
We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…
This paper studies the controller synthesis problem for nonlinear control systems under linear temporal logic (LTL) specifications using zonotope techniques. A local-to-global control strategy is proposed for the desired specification…
Propositional Linear Temporal Logic (LTL) is a popular formalism for specifying desirable requirements and security and privacy policies for software, networks, and systems. Yet expressing such requirements and policies in LTL remains…
Timeline-based planning is an approach originally developed in the context of space mission planning and scheduling, where problem domains are modelled as systems made of a number of independent but interacting components, whose behaviour…
Large Language Models (LLMs) have shown remarkable potential in recommending everyday actions as personal AI assistants, while Explainable AI (XAI) techniques are being increasingly utilized to help users understand why a recommendation is…
This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", to integrate signal temporal logic (STL) specifications into efficient mixed-binary linear programmings. In this framework, temporal…
Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely used in cyber-physical systems. On the other hand, Control…
Despite real-time planners exhibiting remarkable performance in autonomous driving, the growing exploration of Large Language Models (LLMs) has opened avenues for enhancing the interpretability and controllability of motion planning.…
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…
Automatic generation of graphical layouts is crucial for many real-world applications, including designing posters, flyers, advertisements, and graphical user interfaces. Given the incredible ability of Large language models (LLMs) in both…
We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world…
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…