Related papers: Accelerating Signal-Temporal-Logic-Based Task and …

This paper introduces Bidirectional Tight Informed Trees (BTIT*), an asymptotically optimal kinodynamic sampling-based motion planning algorithm that integrates an anytime bidirectional heuristic search (Bi-HS) and ensures the…

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…

This paper presents an offline motion planner for linear cyber-physical systems that satisfy a continuous-time Signal Temporal Logic (STL) specification, in which controls are applied in a Zeroth-order Hold (ZOH) manner. The motion planning…

In backbone networks, it is fundamental to quickly protect traffic against any unexpected event, such as failures or congestions, which may impact Quality of Service (QoS). Standard solutions based on Segment Routing (SR), such as…

Motion retargeting from a human demonstration to a robot is an effective way to reduce the professional requirements and workload of robot programming, but faces the challenges resulting from the differences between humans and robots.…

We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…

This article presents a new search algorithm for the NP-hard problem of optimizing functions of binary variables that decompose according to a graphical model. It can be applied to models of any order and structure. The main novelty is a…

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…

This paper proposes a kinodynamic motion planning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about centroidal motion, contact points, wrench, and gait sequences.…

Recent road trials have shown that guaranteeing the safety of driving decisions is essential for the wider adoption of autonomous vehicle technology. One promising direction is to pose safety requirements as planning constraints in…

Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor…

The BusPlus project aims at improving the off-peak hours public transit service in Canberra, Australia. To address the difficulty of covering a large geographic area, BusPlus proposes a hub and shuttle model consisting of a combination of a…

Kinodynamic Motion Planning (KMP) is to find a robot motion subject to concurrent kinematics and dynamics constraints. To date, quite a few methods solve KMP problems and those that exist struggle to find near-optimal solutions and exhibit…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…

In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…

The Team Orienteering Problem with Service Times and Mandatory & Incompatible Nodes (TOP-ST-MIN) is a variant of the classic Team Orienteering Problem (TOP), which includes three novel features that stem from two real-world problems…

Mixed integer Model Predictive Control (MPC) problems arise in the operation of systems where discrete and continuous decisions must be taken simultaneously to compensate for disturbances. The efficient solution of mixed integer MPC…

Optimally operating an integrated electricity-gas system (IEGS) is significant for the energy sector. However, the IEGS operation model's nonconvexity makes it challenging to solve the optimal dispatch problem in the IEGS. This letter…

The state-of-the-art in optimal control from timed temporal logic specifications, including Metric Temporal Logic (MTL) and Signal Temporal Logic (STL), is based on Mixed-Integer Convex Programming (MICP). The standard MICP approach is…

Using a bicycle for commuting is still uncommon in US cities, although it brings many benefits to both the cyclists and to society as a whole. Cycling has the potential to reduce traffic congestion and emissions, increase mobility, and…