Related papers: Online Motion Planning with Soft Metric Interval T…
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…
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 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…
We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…
This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", to integrate signal temporal logic (STL) specifications into efficient mixed-binary linear programmings. In this framework, temporal…
Motion planning classically concerns the problem of accomplishing a goal configuration while avoiding obstacles. However, the need for more sophisticated motion planning methodologies, taking temporal aspects into account, has emerged. To…
This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL)…
Metric Interval Temporal Logic (MITL) is a well studied real-time, temporal logic that has decidable satisfiability and model checking problems. The decision procedures for MITL rely on the automata theoretic approach, where logic formulas…
The fundamental idea of this work is to synthesize reactive controllers such that closed-loop execution trajectories of the system satisfy desired specifications that ensure correct system behaviors, while optimizing a desired performance…
Several task and motion planning algorithms have been proposed recently to design paths for mobile robot teams with collaborative high-level missions specified using formal languages, such as Linear Temporal Logic (LTL). However, the…
Next-generation autonomous systems must execute complex tasks in uncertain environments. Active perception, where an autonomous agent selects actions to increase knowledge about the environment, has gained traction in recent years for…
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…
Metric Temporal Logic (MTL) is a popular formalism to specify temporal patterns with timing constraints over the behavior of cyber-physical systems with application areas ranging in property-based testing, robotics, optimization, and…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
In this paper, we consider the problem of controlling a dynamical system such that its trajectories satisfy a temporal logic property in a given amount of time. We focus on multi-affine systems and specifications given as syntactically…
This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…
This paper studies the control synthesis of motion planning subject to uncertainties. The uncertainties are considered in robot motions and environment properties, giving rise to the probabilistic labeled Markov decision process (PL-MDP). A…
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…
Robots interacting with humans must be safe, reactive and adapt online to unforeseen environmental and task changes. Achieving these requirements concurrently is a challenge as interactive planners lack formal safety guarantees, while safe…
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…