Related papers: Continuous Execution of High-Level Collaborative T…
Given a collaborative high-level task and a team of heterogeneous robots and behaviors to satisfy it, this work focuses on the challenge of automatically, at runtime, adjusting the individual robot behaviors such that the task is still…
In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…
We propose a new specification language and control synthesis technique for single and multi-robot high-level tasks; these tasks include timing constraints and reaction to environmental events. Specifically, we define Event-based Signal…
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…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
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…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a top-down hierarchical decomposition of the control problem involving…
We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas…
Leveraging the powerful reasoning capabilities of large language models (LLMs), recent LLM-based robot task planning methods yield promising results. However, they mainly focus on single or multiple homogeneous robots on simple tasks.…
We propose a new multi-agent task grammar to encode collaborative tasks for a team of heterogeneous agents that can have overlapping capabilities. The grammar allows users to specify the relationship between agents and parts of the task…
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…
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…
In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a…
The requirements for real-world manipulation tasks are diverse and often conflicting; some tasks require precise motion while others require force compliance; some tasks require avoidance of certain regions, while others require convergence…
This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the motion of the agents in the workspace is abstracted into…
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…