Related papers: Control of Mobile Robots Using Barrier Functions U…
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
This paper concerns the risk-aware control of stochastic systems with temporal logic specifications dynamically assigned during runtime. Conventional risk-aware control typically assumes that all specifications are predefined and remain…
The need for fully autonomous mobile robots has surged over the past decade, with the imperative of ensuring safe navigation in a dynamic setting emerging as a primary challenge impeding advancements in this domain. In this paper, a Safety…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…
This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
We present a method to generate a robot control strategy that maximizes the probability to accomplish a task. The task is given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied at the regions of a…
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for mission execution often results in a non-convex…
Techniques based on Reinforcement Learning (RL) are increasingly being used to design control policies for robotic systems. RL fundamentally relies on state-based reward functions to encode desired behavior of the robot and bad reward…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
The use of spatio-temporal logics in control is motivated by the need to impose complex spatial and temporal behavior on dynamical systems, and to control these systems accordingly. Synthesizing correct-by-design control laws is a…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but technically distinct safety methods,…
We propose a framework for generating a signal control policy for a traffic network of signalized intersections to accomplish control objectives expressible using linear temporal logic. By applying techniques from model checking and formal…
This paper introduces time window temporal logic (TWTL), a rich expressivity language for describing various time bounded specifications. In particular, the syntax and semantics of TWTL enable the compact representation of serial tasks,…
While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent developments address this issue through so-called predictive safety…
Reinforcement learning is a powerful technique for developing new robot behaviors. However, typical lack of safety guarantees constitutes a hurdle for its practical application on real robots. To address this issue, safe reinforcement…