Related papers: Synthesis of Timeline-Based Planning Strategies Av…

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…

This paper explores the theoretical limits of using discrete abstractions for nonlinear control synthesis. More specifically, we consider the problem of deciding continuous-time control with temporal logic specifications. We prove that…

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,…

This paper introduces a sampling-based strategy synthesis algorithm for nondeterministic hybrid systems with complex continuous dynamics under temporal and reachability constraints. We model the evolution of the hybrid system as a…

In Reasoning about Action and Planning, one synthesizes the agent plan by taking advantage of the assumption on how the environment works (that is, one exploits the environment's effects, its fairness, its trajectory constraints). In this…

Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…

We consider qualitative strategy synthesis for the formalism called consumption Markov decision processes. This formalism can model dynamics of an agents that operates under resource constraints in a stochastic environment. The presented…

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…

In many settings, people exhibit behavior that is inconsistent across time --- we allocate a block of time to get work done and then procrastinate, or put effort into a project and then later fail to complete it. An active line of research…

In real-world applications, the ability to reason about incomplete knowledge, sensing, temporal notions, and numeric constraints is vital. While several AI planners are capable of dealing with some of these requirements, they are mostly…

Many applications -- from planning and scheduling to problems in molecular biology -- rely heavily on a temporal reasoning component. In this paper, we discuss the design and empirical analysis of algorithms for a temporal reasoning system…

Sampled semantics of timed automata is a finite approximation of their dense time behavior. While the former is closer to the actual software or hardware systems with a fixed granularity of time, the abstract character of the latter makes…

We tackle the problem of planning in nondeterministic domains, by presenting a new approach to conformant planning. Conformant planning is the problem of finding a sequence of actions that is guaranteed to achieve the goal despite the…

Coordinating agents to complete a set of tasks with intercoupled temporal and resource constraints is computationally challenging, yet human domain experts can solve these difficult scheduling problems using paradigms learned through years…

We propose a novel neural network architecture (TSympOCNet) to address high--dimensional optimal control problems with linear and nonlinear dynamics. An important application of this method is to solve the path planning problem of…

Recently, there has been a growing interest in developing inventory control policies which are robust to model misspecification. One approach is to posit that nature selects a worst-case distribution for any stochastic primitives from some…

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…

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the first one models the coupled constraints and the other one is…

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 studies temporal planning in probabilistic environments, modeled as labeled Markov decision processes (MDPs), with user preferences over multiple temporal goals. Existing works reflect such preferences as a prioritized list of…