Related papers: Timeline-based planning: Expressiveness and Comple…
We present a general constraint-based encoding for domain-independent task planning. Task planning is characterized by causal relationships expressed as conditions and effects of optional actions. Possible actions are typically represented…
We present a method to solve planning problems involving sequential decision making in unpredictable environments while accomplishing a high level task specification expressed using the formalism of linear temporal logic. Our method…
Planning is one of the most studied problems in computer science. In this paper, we consider the timeline-based approach, where the domain is modeled by a set of independent, but interacting, components, identified by a set of state…
This paper studies temporal planning in probabilistic environments, modeled as labeled Markov decision processes (MDPs), with user preferences over multiple temporal goals. Existing works reflect such preferences as a prioritized list of…
In classical planning, the goal is to derive a course of actions that allows an intelligent agent to move from any situation it finds itself in to one that satisfies its goals. Classical planning is considered domain-independent, i.e., it…
Metric Temporal Logic can express temporally evolving properties with time-critical constraints or time-triggered constraints for real-time systems. This paper extends the Metric Interval Temporal Logic with a distribution eventuality…
Real world applications of planning, like in industry and robotics, require modelling rich and diverse scenarios. Their resolution usually requires coordinated and concurrent action executions. In several cases, such planning problems are…
Many forms of dependence manifest themselves over time, with behavior of variables in dynamical systems as a paradigmatic example. This paper studies temporal dependence in dynamical systems from a logical perspective, by enriching a…
We study temporally extended goals expressed in Pure-Past LTL (PPLTL). PPLTL is particularly interesting for expressing goals since it allows to express sophisticated tasks as in the Formal Methods literature, while the worst-case…
Signal Temporal Logic (STL) is a formal language over continuous-time signals (such as trajectories of a multi-agent system) that allows for the specification of complex spatial and temporal system requirements (such as staying sufficiently…
In this paper, we construct and investigate a hierarchy of spatio-temporal formalisms that result from various combinations of propositional spatial and temporal logics such as the propositional temporal logic PTL, the spatial logics RCC-8,…
Next-generation autonomous systems must execute complex tasks in uncertain environments. Active perception, where an autonomous agent selects actions to increase knowledge about the environment, has gained traction in recent years for…
We present a different approach to developing a concept of time for specifying temporality in the conceptual modeling of software and database systems. In the database field, various proposals and products address temporal data. The…
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…
This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied…
The treatment of exogenous events in planning is practically important in many real-world domains where the preconditions of certain plan actions are affected by such events. In this paper we focus on planning in temporal domains with…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
Using LLMs not to predict plans but to formalize an environment into the Planning Domain Definition Language (PDDL) has been shown to improve performance and control. While most existing methodology only applies to fully observable…
This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…
In temporal logics, a central question is about the choice of modalities and their relative expressive power, in comparison to the complexity of decision problems such as satisfiability. In this tutorial, we will illustrate the study of…