Related papers: Temporal Planning via Interval Logic Satisfiabilit…
In this paper, we investigate the problem of linear temporal logic (LTL) path planning for multi-agent systems, introducing the new concept of \emph{ordering constraints}. Specifically, we consider a generic objective function that is…
Industry 4.0 proposes the integration of artificial intelligence (AI) into manufacturing and other industries to create smart collaborative systems which enhance efficiency. The aim of this paper is to develop a flexible and adaptive…
We present some techniques for planning in domains specified with the recent standard language PDDL2.1, supporting 'durative actions' and numerical quantities. These techniques are implemented in LPG, a domain-independent planner that took…
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…
Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely used in cyber-physical systems. On the other hand, Control…
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 study the synthesis of policies for multi-agent systems to implement spatial-temporal tasks. We formalize the problem as a factored Markov decision process subject to so-called graph temporal logic specifications. The transition function…
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…
Allen's Interval Algebra constitutes a framework for reasoning about temporal information in a qualitative manner. In particular, it uses intervals, i.e., pairs of endpoints, on the timeline to represent entities corresponding to actions,…
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…
Humans and animals have the ability to reason and make predictions about different courses of action at many time scales. In reinforcement learning, option models (Sutton, Precup \& Singh, 1999; Precup, 2000) provide the framework for this…
Temporal graphs have been recently introduced to model changes to a given network that occur throughout a fixed period of time. The Temporal $\Delta$ Clique problem, that generalizes the well known Clique problem to temporal graphs, has…
Considerable research efforts have been devoted to the development of motion planning algorithms, which form a cornerstone of the autonomous driving system (ADS). Nonetheless, acquiring an interactive and secure trajectory for the ADS…
Temporal planning offers numerous advantages when based on an expressive representation. Timelines have been known to provide the required expressiveness but at the cost of search efficiency. We propose here a temporal planner, called FAPE,…
We present a new flow-based formulation for identical parallel machine scheduling with a regular objective function and without idle time. The formulation is constructed with the help of a decision diagram that represents all job sequences…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
Timetabling is a typical application of constraint programming whose task is to allocate activities to slots in available resources respecting various constraints like precedence and capacity. In this paper we present a basic concept, a…
In this paper, we propose a sampling-based motion planning algorithm that finds an infinite path satisfying a Linear Temporal Logic (LTL) formula over a set of properties satisfied by some regions in a given environment. The algorithm has…
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…
In this note we consider the problem of introducing variables in temporal logic programs under the formalism of "Temporal Equilibrium Logic" (TEL), an extension of Answer Set Programming (ASP) for dealing with linear-time modal operators.…