Related papers: A*-based Temporal Logic Path Planning with User Pr…
Path planning is typically considered in Artificial Intelligence as a graph searching problem and R* is state-of-the-art algorithm tailored to solve it. The algorithm decomposes given path finding task into the series of subtasks each of…
Path planning algorithms, such as the search-based A*, are a critical component of autonomous mobile robotics, enabling robots to navigate from a starting point to a destination efficiently and safely. We investigated the resilience of the…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
Robots interacting with humans must be safe, reactive and adapt online to unforeseen environmental and task changes. Achieving these requirements concurrently is a challenge as interactive planners lack formal safety guarantees, while safe…
In robotics, ensuring that autonomous systems are comprehensible and accountable to users is essential for effective human-robot interaction. This paper introduces a novel approach that integrates user-centered design principles directly…
Automated Planning is one of the main research field of Artificial Intelligence since its beginnings. Research in Automated Planning aims at developing general reasoners (i.e., planners) capable of automatically solve complex problems.…
We present Neural A*, a novel data-driven search method for path planning problems. Despite the recent increasing attention to data-driven path planning, machine learning approaches to search-based planning are still challenging due to the…
As the trend of moving away from high-precision maps gradually emerges in the autonomous driving industry,traditional planning algorithms are gradually exposing some problems. To address the high real-time, high precision, and high…
We present a heuristic algorithm for solving the problem of scheduling plans of tasks. The plans are ordered vectors of tasks, and tasks are basic operations carried out by resources. Plans are tied by temporal, precedence and resource…
This paper addresses the problem of temporal logic motion planning for an autonomous robot operating in an unknown environment. The objective is to enable the robot to satisfy a syntactically co-safe Linear Temporal Logic (scLTL)…
In this paper, we consider a robot navigation problem in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction. This is because they may drive…
This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…
We address the path planning problem for a team of robots satisfying a complex high-level mission specification given in the form of an Linear Temporal Logic (LTL) formula. The state-of-the-art approach to this problem employs the…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
This technical report is an extended version of the paper 'A Receding Horizon Algorithm for Informative Path Planning with Temporal Logic Constraints' accepted to the 2013 IEEE International Conference on Robotics and Automation (ICRA).…
In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
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…
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…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…