Related papers: Signal Temporal Logic Motion Planning via Graphs o…
Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-dimensional system dynamics.…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from signal temporal logic (STL)…
This paper presents a smooth parameterization of continuous-time Signal Temporal Logic (CT-STL) specifications for nonconvex trajectory optimization that is sound and complete up to the accuracy of the underlying numerical integration…
This work presents a novel co-design strategy that integrates trajectory planning and control to handle STL-based tasks in autonomous robots. The method consists of two phases: $(i)$ learning spatio-temporal motion primitives to encapsulate…
Signal Temporal Logic (STL) is a formal language over continuous-time signals (such as trajectories of a multi-agent system) that allows for the specification of complex spatial and temporal system requirements (such as staying sufficiently…
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…
Trajectory planning is a critical process that enables autonomous systems to safely navigate complex environments. Signal temporal logic (STL) specifications are an effective way to encode complex temporally extended objectives for…
This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local…
Signal Temporal Logic (STL) is a powerful specification language for describing complex temporal behaviors of continuous signals, making it well-suited for high-level robotic task descriptions. However, generating executable plans for STL…
This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", to integrate signal temporal logic (STL) specifications into efficient mixed-binary linear programmings. In this framework, temporal…
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
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…
Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
This article presents MAPS$^2$ : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either…
Signal Temporal Logic (STL) offers verifiable task specifications and is crucial for safety-critical control. Yet STL planning remains challenging: exact optimization-based methods are often too slow, and learning-based methods struggle to…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
In this work, we present a novel robustness measure for continuous-time stochastic trajectories with respect to Signal Temporal Logic (STL) specifications. We show the soundness of the measure and develop a monitor for reasoning about…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…