Related papers: Planning and Acting While the Clock Ticks
In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task…
Timeline-based planning is an approach originally developed in the context of space mission planning and scheduling, where problem domains are modelled as systems made of a number of independent but interacting components, whose behaviour…
Complex manipulation tasks require careful integration of symbolic reasoning and motion planning. This problem, commonly referred to as Task and Motion Planning (TAMP), is even more challenging if the workspace is non-static, e.g. due to…
In many use cases the execution time of tasks is unknown and can be chosen by the designer to increase or decrease the application features depending on the availability of processing capacity. If the application has real-time constraints,…
In order to ensure the robust actuation of a plan, execution must be adaptable to unexpected situations in the world and to exogenous events. This is critical in domains in which committing to a wrong ordering of actions can cause the plan…
Capability planning problems are pervasive throughout many areas of human interest with prominent examples found in defense and security. Planning provides a unique context for optimization that has not been explored in great detail and…
We propose a novel planning technique for satisfying tasks specified in temporal logic in partially revealed environments. We define high-level actions derived from the environment and the given task itself, and estimate how each action…
Several works related to spatial crowdsourcing have been proposed in the direction where the task executers are to perform the tasks within the stipulated deadlines. Though the deadlines are set, it may be a practical scenario that majority…
We present a task-and-motion planning (TAMP) algorithm robust against a human operator's cooperative or adversarial interventions. Interventions often invalidate the current plan and require replanning on the fly. Replanning can be…
Temporal planning often involves numeric effects that are directly proportional to their action's duration. These include continuous effects, where a numeric variable is subjected to a rate of change while the action is being executed, and…
In this work, we consider the problem of planning for temporal logic tasks in large robot environments. When full task compliance is unattainable, we aim to achieve the best possible task satisfaction by integrating user preferences for…
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…
Resolving major societal challenges, such as stagnated economic growth or wasted resources, heavily relies on successful project delivery. However, projects are notoriously hard to deliver successfully, partly due to their interconnected…
A queue is required when a service provider is not able to handle jobs arriving over the time. In a highly flexible and dynamic environment, some jobs might demand for faster execution at run-time especially when the resources are limited…
Scheduling is a critical part of practical computer systems, and scheduling has also been extensively studied from a theoretical perspective. Unfortunately, there is a gap between theory and practice, as the optimal scheduling policies…
In the context of real-time planning, this paper investigates the contributions of two enhancements for selecting actions. First, the agenda-driven planning enhancement ranks relevant atomic goals and solves them incrementally in a…
Real-world agentic tasks, unlike synchronous Markov Decision Processes (MDPs), often involve non-blocking actions with variable latencies, creating a fundamental \textit{Temporal Gap} between action initiation and completion. Existing…
Motion planning of an autonomous system with high-level specifications has wide applications. However, research of formal languages involving timed temporal logic is still under investigation. Furthermore, many existing results rely on a…
Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…
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…