Related papers: On the Timed Temporal Logic Planning of Coupled Mu…
We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…
This paper considers how heterogeneous multi-agent teams can leverage their different capabilities to mutually improve individual agent performance. We present Capability-Augmenting Tasks (CATs), which encode how agents can augment their…
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…
Autonomous agents often operate in uncertain environments where their decisions are made based on beliefs over states of targets. We are interested in controller synthesis for complex tasks defined over belief spaces. Designing such…
Multi-agent systems outperform single agent in complex collaborative tasks. However, in large-scale scenarios, ensuring timely information exchange during decentralized task execution remains a challenge. This work presents an online…
In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
This work presents a dual-agent \ac{llm}-based reasoning framework for automated planar mechanism synthesis that tightly couples linguistic specification with symbolic representation and simulation. From a natural-language task description,…
Intelligent agents powered by AI planning assist people in complex scenarios, such as managing teams of semi-autonomous vehicles. However, AI planning models may be incomplete, leading to plans that do not adequately meet the stated…
In this work, we focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems'…
Motion planning of an autonomous system with high-level specifications has wide applications. However, research of formal languages involving timed temporal logic is still under investigation. Furthermore, many existing results rely on a…
We address the problem of diagnosing and repairing specifications for hybrid systems formalized in signal temporal logic (STL). Our focus is on the setting of automatic synthesis of controllers in a model predictive control (MPC) framework.…
The goal of this paper is to obtain online abstractions for coupled multi-agent systems in a decentralized manner. A discrete model which captures the motion capabilities of each agent is derived over a bounded time-horizon, by discretizing…
The fundamental idea of this work is to synthesize reactive controllers such that closed-loop execution trajectories of the system satisfy desired specifications that ensure correct system behaviors, while optimizing a desired performance…
We consider the problem of automatically synthesizing a hybrid controller for non-linear dynamical systems which ensures that the closed-loop fulfills an arbitrary \emph{Linear Temporal Logic} specification. Moreover, the specification may…
In this paper we present a layered approach for multi-agent control problem, decomposed into three stages, each building upon the results of the previous one. First, a high-level plan for a coarse abstraction of the system is computed,…
We propose a new multi-agent task grammar to encode collaborative tasks for a team of heterogeneous agents that can have overlapping capabilities. The grammar allows users to specify the relationship between agents and parts of the task…
This paper investigates the autonomous synchronization problem for discrete-time heterogeneous multiagent systems. The synchronization problem is transformed into the asymptotic decoupling problem of stable modes in a class of discrete-time…
Large Language Models (LLMs) have demonstrated the ability to solve a wide range of practical tasks within multi-agent systems. However, existing human-designed multi-agent frameworks are typically limited to a small set of pre-defined…
We address the optimal design of a large scale multi-agent system where each agent has discrete and/or continuous decision variables that need to be set so as to optimize the sum of linear local cost functions, in presence of linear local…