Related papers: Temporal Waypoint Navigation of Multi-UAV Payload …
Real-world scenarios are characterized by timing uncertainties, e.g., delays, and disturbances. Algorithms with temporal robustness are crucial in guaranteeing the successful execution of tasks and missions in such scenarios. We study…
Package delivery via the UAVs is a promising transport mode to provide efficient and green logistic services, especially in urban areas or complicated topography. However, the energy storage limit of the UAV makes it difficult to perform…
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…
Signal Temporal Logic (STL) is a powerful language for specifying temporally structured robotic tasks. Planning executable trajectories under STL constraints remains difficult when system dynamics and environment structure are not…
This letter aims to generate a continuous-time trajectory consisting of piecewise B\'ezier curves that satisfy signal temporal logic (STL) specifications with piecewise time-varying robustness. Our time-varying robustness is less…
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals expressed as Linear Temporal Logic (LTL) formulas. In particular, we design…
We present a novel method for designing higher-order Control Barrier Functions (CBFs) that guarantee convergence to a safe set within a user-specified finite. Traditional Higher Order CBFs (HOCBFs) ensure asymptotic safety but lack…
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as…
Modern vertical take-off and landing vehicles (VTOLs) could significantly affect the future of mobility. The broad range of their application fields encompasses urban air mobility, transportation and logistics as well as reconnaissance and…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
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.…
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
This paper presents a methodology for temporal logic verification of discrete-time stochastic systems. Our goal is to find a lower bound on the probability that a complex temporal property is satisfied by finite traces of the system.…
Using reinforcement learning to learn control policies is a challenge when the task is complex with potentially long horizons. Ensuring adequate but safe exploration is also crucial for controlling physical systems. In this paper, we use…
Real-world robotic systems must comply with safety requirements in the presence of uncertainty. To define and measure requirement adherence, Signal Temporal Logic (STL) offers a mathematically rigorous and expressive language. However,…
In multi-agent systems, signal temporal logic (STL) is widely used for path planning to accomplish complex objectives with formal safety guarantees. However, as the number of agents increases, existing approaches encounter significant…
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…
With the advancements achieved in drones' flexibility, low cost, and high efficiency, they obtain huge application opportunities in various industries, such as aerial delivery and future communication networks. However, the increasing…
In this letter, we study a buffer-aided Internet of unmanned aerial vehicles (UAVs) in which a UAV performs data sensing, stores the data, and sends it to the base station (BS) in cellular networks. To minimize the overall completion time…