Related papers: Specification Patterns for Robotic Missions
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…
Recent large language models (LLMs) have demonstrated promising capabilities in modeling real-world knowledge and enhancing knowledge-based generation tasks. In this paper, we further explore the potential of using LLMs to aid in the design…
In robotics, the use of Large Language Models (LLMs) is becoming prevalent, especially for understanding human commands. In particular, LLMs are utilized as domain-agnostic task planners for high-level human commands. LLMs are capable of…
Automatic synthesis from linear temporal logic (LTL) specifications is widely used in robotic motion planning, control of autonomous systems, and load distribution in power networks. A common specification pattern in such applications…
Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas…
Autonomous agents often face the challenge of interpreting uncertain natural language instructions for planning tasks. Representing these instructions as Linear Temporal Logic (LTL) enables planners to synthesize actionable plans. We…
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…
Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…
In the development and verification of safety-critical aero-space software, Linear Temporal Logic (LTL) has been widely used to specify complex system properties derived from requirements. However, a significant gap remains in industrial…
Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…
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…
Temporal Logic (TL) can be used to rigorously specify complex high-level specification for systems in many engineering applications. The translation between natural language (NL) and TL has been under-explored due to the lack of dataset and…
Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…
Robotics foundation models have demonstrated strong capabilities in executing natural language instructions across diverse tasks and environments. However, they remain largely data-driven and lack formal guarantees on safety and…
Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the…
Natural language (NL) navigation for low-altitude unmanned aerial vehicles (UAVs) offers an intelligent and convenient solution for low-altitude aerial services by enabling an intuitive interface for non-expert operators. However, deploying…
This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…
In this paper, we investigate the problem of synthesizing strategies for linear temporal logic (LTL) specifications that are interpreted over finite traces -- a problem that is central to the automated construction of controllers, robot…
Linear Temporal Logic (LTL) is the standard specification language for reactive systems and is successfully applied in industrial settings. However, many shortcomings of LTL have been identified in the literature, among them the limited…
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…