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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 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…
In this paper, we consider the problem of optimally allocating tasks, expressed as global Linear Temporal Logic (LTL) specifications, to teams of heterogeneous mobile robots. The robots are classified in different types that capture their…
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…
Limited information availability represents a fundamental challenge for control of multi-agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The…
This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…
While sequential task assignment for a single agent has been widely studied, such problems in a multi-agent setting, where the agents have heterogeneous task preferences or capabilities, remain less well-characterized. We study a…
This paper addresses the finite-time non-overshooting leader-following consensus problem for multi-agent systems, whose agents are modeled by a dynamical system topologically equivalent to the integrator chain. Based on the weighted…
Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and control synthesis methods are limited with respect to the…
We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of…
We design controllers from formal specifications for positive discrete-time monotone systems that are subject to bounded disturbances. Such systems are widely used to model the dynamics of transportation and biological networks. The…
Signal Temporal Logic (STL) has emerged as an expressive language for reasoning intricate planning objectives. However, existing STL-based methods often assume full observation and known dynamics, which imposes constraints on real-world…
We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The proposed framework ensures safe and reliable operation through…
We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
We introduce a technique for synthesis of control and communication strategies for a team of agents from a global task specification given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied by the…
In this paper, we consider the problem of learning a neural network controller for a system required to satisfy a Signal Temporal Logic (STL) specification. We exploit STL quantitative semantics to define a notion of robust satisfaction.…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
Manufacturing industries are facing increasing product variability due to the growing demand for personalized products. Under these conditions, ensuring safety becomes challenging as frequent reconfigurations can lead to unintended…
In this paper, we consider a leader-following consensus problem of a group of autonomous agents with time-varying coupling delays. Two different cases of coupling topologies are investigated. At first, a necessary and sufficient condition…