Related papers: Non-uniform Sampled Motion Planning for Continuous…

In this paper, a sampling-based Stochastic Model Predictive Control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of…

Signal Temporal Logic (STL) is a formalism used to rigorously specify requirements of cyberphysical systems (CPS), i.e., systems mixing digital or discrete components in interaction with a continuous environment or analog com- ponents. STL…

Task and motion planning under Signal Temporal Logic constraints is known to be NP-hard. A common class of approaches formulates these hybrid problems, which involve discrete task scheduling and continuous motion planning, as mixed-integer…

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…

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…

In future intelligent transportation systems, networked vehicles coordinate with each other to achieve safe operations based on an assumption that communications among vehicles and infrastructure are reliable. Traditional methods usually…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

The problem of motion planning for affine control systems consists of designing control inputs that drive a system from a well-defined initial to final states in a desired amount of time. For control systems with drift, however,…

Existing methods for safe multi-agent control using logic specifications like Signal Temporal Logic (STL) often face scalability issues. This is because they rely either on single-agent perspectives or on Mixed Integer Linear Programming…

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 paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and…

This paper addresses the problem of temporal logic motion planning for an autonomous robot operating in an unknown environment. The objective is to enable the robot to satisfy a syntactically co-safe Linear Temporal Logic (scLTL)…

This paper investigates the control synthesis for continuous-time uncertain systems under nested Signal Temporal Logic (STL) specifications containing nested temporal operators. Control Barrier Functions (CBFs) are utilized herein to encode…

We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…

Cyber-Physical Systems~(CPS) consist of collaborative, networked and tightly intertwined computational (logical) and physical components, each operating at different spatial and temporal scales. Hence, the spatial and temporal requirements…

Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…

This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain…

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.…

This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…

Online monitoring aims to evaluate or to predict, at runtime, whether or not the behaviors of a system satisfy some desired specification. It plays a key role in safety-critical cyber-physical systems. In this work, we propose a new…