Related papers: Synthesis of Shared Control Protocols with Provabl…
We propose a formalism for shared control, which is the problem of defining a policy that blends user control and autonomous control. The challenge posed by the shared autonomy system is to maintain user control authority while allowing the…
Structural nonlinearity can be harnessed to program complex functionalities in robotic devices. However, it remains a challenge to design nonlinear systems that will accomplish a specific, desired task. The responses that we typically…
We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these…
Linear Temporal Logic (LTL) is a widely used task specification language for autonomous systems. To mitigate the significant manual effort and expertise required to define LTL-encoded tasks, several methods have been proposed for…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
This work presents a novel co-design strategy that integrates trajectory planning and control to handle STL-based tasks in autonomous robots. The method consists of two phases: $(i)$ learning spatio-temporal motion primitives to encapsulate…
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…
We propose algorithms for performing model checking and control synthesis for discrete-time uncertain systems under linear temporal logic (LTL) specifications. We construct temporal logic trees (TLT) from LTL formulae via reachability…
In this paper we consider a network of processors aiming at cooperatively solving linear programming problems subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
We present a framework to synthesize control policies for nonlinear dynamical systems from complex temporal constraints specified in a rich temporal logic called Signal Temporal Logic (STL). We propose a novel smooth and differentiable STL…
Human collaborators coordinate effectively their actions through both verbal and non-verbal communication. We believe that the the same should hold for human-robot teams. We propose a formalism that enables a robot to decide optimally…
This paper studies an optimal control problem for continuous-time stochastic systems subject to reachability objectives specified in a subclass of metric interval temporal logic specifications, a temporal logic with real-time constraints.…
We define the GXW fragment of linear temporal logic (LTL) as the basis for synthesizing embedded control software for safety-critical applications. Since GXW includes the use of a weak-until operator we are able to specify a number of…
Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…
We address the problem of statically checking safety properties (such as assertions or deadlocks) for parameterized phaser programs. Phasers embody a non-trivial and modern synchronization construct used to orchestrate executions of…
This article presents MAPS$^2$ : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
Temporal synthesis attempts to construct reactive programs that satisfy a given declarative (LTL) formula. Practitioners have found it challenging to work exclusively with declarative specifications, and have found languages that combine…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…