Related papers: BP-RRT: Barrier Pair Synthesis for Temporal Logic …
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is generating control signals for nonlinear systems…
This paper proposes a new optimal control synthesis algorithm for multi-robot systems under global temporal logic tasks. Existing planning approaches under global temporal goals rely on graph search techniques applied to a product automaton…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
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…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
The majority of existing Linear Temporal Logic (LTL) planning methods rely on the construction of a discrete product automaton, that combines a discrete abstraction of robot mobility and a B$\ddot{\text{u}}$chi automaton that captures the…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
In this paper we present a method for automatically planning 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 system. The…
This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level logical and timing requirements while respecting low-level…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…
This paper proposes a rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRRT, randomly picks a state sample and extends the search tree…
In this paper we study the problem of synthesizing optimal control policies for uncertain continuous-time nonlinear systems from syntactically co-safe linear temporal logic (scLTL) formulas. We formulate this problem as a sequence of…
Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leaves little room for robots to engage in contact with an…
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…
Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
This paper proposes a new highly scalable and asymptotically optimal control synthesis algorithm from linear temporal logic specifications, called $\text{STyLuS}^{*}$ for large-Scale optimal Temporal Logic Synthesis, that is designed to…
Time Optimal Path Parametrization is the problem of minimizing the time interval during which an actuation constrained agent can traverse a given path. Recently, an efficient linear-time algorithm for solving this problem was proposed.…