Related papers: Synthesis of Timeline-Based Planning Strategies Av…
Existing plan synthesis approaches in artificial intelligence fall into two categories -- domain independent and domain dependent. The domain independent approaches are applicable across a variety of domains, but may not be very efficient…
Most classical scheduling formulations assume a fixed and known duration for each activity. In this paper, we weaken this assumption, requiring instead that each duration can be represented by an independent random variable with a known…
In this paper we address the class of Sequential Decision Making (SDM) problems that are characterized by time-varying parameters. These parameter dynamics are either pre-specified or manipulable. At any given time instant the decision…
We consider a problem on the synthesis of reactive controllers that optimize some a priori unknown performance criterion while interacting with an uncontrolled environment such that the system satisfies a given temporal logic specification.…
This paper considers robot motion planning under temporal logic constraints in probabilistic maps obtained by semantic simultaneous localization and mapping (SLAM). The uncertainty in a map distribution presents a great challenge for…
We prove a general existence result in stochastic optimal control in discrete time where controls take values in conditional metric spaces, and depend on the current state and the information of past decisions through the evolution of a…
Optimization of decision problems in stochastic environments is usually concerned with maximizing the probability of achieving the goal and minimizing the expected episode length. For interacting agents in time-critical applications,…
Priced timed automata provide a natural model for quantitative analysis of real-time systems and have been successfully applied in various scheduling and planning problems. The optimal reachability problem for linearly-priced timed automata…
Stochastic automata are a formal compositional model for concurrent stochastic timed systems, with general distributions and non-deterministic choices. Measures of interest are defined over schedulers that resolve the nondeterminism. In…
Motivated by the recent interest in risk-aware control, we study a continuous-time control synthesis problem to bound the risk that a stochastic linear system violates a given specification. We use risk signal temporal logic as a…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
In this paper, we investigate the problem of synthesizing strategies for linear temporal logic (LTL) specifications that are interpreted over finite traces -- a problem that is central to the automated construction of controllers, robot…
In this paper, we present a method for optimal control synthesis of a plant that interacts with a set of agents in a graph-like environment. The control specification is given as a temporal logic statement about some properties that hold at…
We consider the synthesis of control policies from temporal logic specifications for robots that interact with multiple dynamic environment agents. Each environment agent is modeled by a Markov chain whereas the robot is modeled by a finite…
We present a general constraint-based encoding for domain-independent task planning. Task planning is characterized by causal relationships expressed as conditions and effects of optional actions. Possible actions are typically represented…
We present time-constrained automata (TCA), a model for hard real-time computation in which agents behaviors are modeled by automata and constrained by time intervals. TCA actions can have multiple start time and deadlines, can be…
We introduce the problem Synchronized Planarity. Roughly speaking, its input is a loop-free multi-graph together with synchronization constraints that, e.g., match pairs of vertices of equal degree by providing a bijection between their…
Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory.…
We present a case study of artificial intelligence techniques applied to the control of production printing equipment. Like many other real-world applications, this complex domain requires high-speed autonomous decision-making and robust…