Related papers: Distributed Communication-aware Motion Planning fo…
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as…
This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet of multi-rotors. The proposed solution extends our previous motion planner to compute feasible and constrained…
This work considers the path planning problem for a team of identical robots evolving in a known environment. The robots should satisfy a global specification given as a Linear Temporal Logic (LTL) formula over a set of regions of interest.…
We propose a distributed control and coordination strategy for multi-agent systems where each agent has a local task specified as a Linear Temporal Logic (LTL) formula and at the same time is subject to relative-distance constraints with…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional…
This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified…
This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the…
This paper addresses the online motion planning problem of mobile robots under complex high-level tasks. The robot motion is modeled as an uncertain Markov Decision Process (MDP) due to limited initial knowledge, while the task is specified…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…
From biological systems to cyber-physical systems, monitoring the behavior of such dynamical systems often requires to reason about complex spatio-temporal properties of physical and/or computational entities that are dynamically…
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a…
In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range…
This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…
In this paper, we develop a distributed monitoring framework for robot swarms so that the agents can monitor whether the executions of robot swarms satisfy Swarm Signal Temporal Logic (SwarmSTL) formulas. We define generalized moments (GMs)…
In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps:…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…
In this work, we present a novel robustness measure for continuous-time stochastic trajectories with respect to Signal Temporal Logic (STL) specifications. We show the soundness of the measure and develop a monitor for reasoning about…
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…