Related papers: Motion Planning with Metric Temporal Logic Using R…
Several task and motion planning algorithms have been proposed recently to design paths for mobile robot teams with collaborative high-level missions specified using formal languages, such as Linear Temporal Logic (LTL). However, the…
This paper addresses the multi-agent control problem under global temporal logic tasks, considering agents with heterogeneous capabilities. These global tasks involve not only absolute and relative temporal and spatial constraints, but also…
Verification of temporal logic properties plays a crucial role in proving the desired behaviors of hybrid systems. In this paper, we propose an interval method for verifying the properties described by a bounded linear temporal logic. We…
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…
This paper presents a novel algorithm for reachability analysis of nonlinear discrete-time systems. The proposed method combines constrained zonotopes (CZs) with polyhedral relaxations of factorable representations of nonlinear functions to…
Motion planning for autonomous vehicles often requires satisfying multiple conditionally conflicting specifications. In situations where not all specifications can be met simultaneously, minimum-violation motion planning maintains system…
Hybrid zonotopes generalize constrained zonotopes by introducing additional binary variables and possess some unique properties that make them convenient to represent nonconvex sets. This paper presents novel hybrid zonotope-based methods…
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)…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and…
Motion planning of autonomous agents in partially known environments with incomplete information is a challenging problem, particularly for complex tasks. This paper proposes a model-free reinforcement learning approach to address this…
This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for optimally dealing with hybrid TAMP problems that involve…
We study feedback motion planning for continuous-time stochastic nonlinear systems under signal temporal logic (STL) specifications. We propose a framework that synthesizes control policies for chance-constrained STL trajectory optimization…
Many modern autonomous systems, particularly multi-agent systems, are time-critical and need to be robust against timing uncertainties. Previous works have studied left and right time robustness of signal temporal logic specifications by…
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…
This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the…
Motion planning classically concerns the problem of accomplishing a goal configuration while avoiding obstacles. However, the need for more sophisticated motion planning methodologies, taking temporal aspects into account, has emerged. To…
Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely used in cyber-physical systems. On the other hand, Control…
Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and control synthesis methods are limited with respect to the…
Runtime verification enables checking temporal logic specifications over individual execution traces and offers a scalable alternative to exhaustive formal verification. In practice, systems must satisfy dozens to hundreds of temporal…