Related papers: Higher Order Convergent Control Barrier Functions …
Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional…
In this work, we focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems'…
Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement learning methods to find policies which guarantee…
This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed…
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…
Reinforcement Learning (RL) based methods have been increasingly explored for robot learning. However, RL based methods often suffer from low sampling efficiency in the exploration phase, especially for long-horizon manipulation tasks, and…
Multi-agent systems (MASs) consisting of a number of autonomous agents that communicate, coordinate, and jointly sense the environment to achieve complex missions can be found in a variety of applications such as robotics, smart cities, and…
In this paper we focus on the problem of decomposing a global Signal Temporal Logic formula (STL) assigned to a multi-agent system to local STL tasks when the team of agents is a-priori decomposed to disjoint sub-teams. The predicate…
A framework for the event-triggered control synthesis under signal temporal logic (STL) tasks is proposed. In our previous work, a continuous-time feedback control law was designed, using the prescribed performance control technique, to…
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order…
The problem of time-constrained multi-agent task scheduling and control synthesis is addressed. We assume the existence of a high level plan which consists of a sequence of cooperative tasks, each of which is associated with a deadline and…
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…
Human-centric traffic signal control in corridor networks must increasingly account for multimodal travelers, particularly high-occupancy public transportation, rather than focusing solely on vehicle-centric performance. This paper proposes…
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…
The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…
We investigate the task and motion planning problem for dynamical systems under signal temporal logic (STL) specifications. Existing works on STL control synthesis mainly focus on generating plans that satisfy properties over a single…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…