相关论文: Planning Through Stochastic Local Search and Tempo…

We study informative path planning (IPP) with travel budgets in cluttered environments, where an agent collects measurements of a latent field modeled as a Gaussian process (GP) to reduce uncertainty at target locations. Graph-based solvers…

This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…

Planning in textual environments have been shown to be a long-standing challenge even for current models. A recent, promising line of work uses LLMs to generate a formal representation of the environment that can be solved by a symbolic…

Linear Temporal Logic (LTL) is a formal way of specifying complex objectives for planning problems modeled as Markov Decision Processes (MDPs). The planning problem aims to find the optimal policy that maximizes the satisfaction probability…

Automated planners are computer tools that allow autonomous agents to make strategies and decisions by determining a set of actions for the agent that to take, which will carry a system from a given initial state to the desired goal state.…

Multi-Agent Path Finding (MAPF) requires computing collision-free paths for multiple agents in shared environment. Most MAPF planners assume that each agent reaches a specific location at a specific timestep, but this is infeasible to…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Search (GLS) for efficient replanning on dynamic graphs where…

The Multi-Agent Path Finding (MAPF) problem involves planning collision-free paths for multiple agents in a shared environment. The majority of MAPF solvers rely on the assumption that an agent can arrive at a specific location at a…

This paper studies temporal planning in probabilistic environments, modeled as labeled Markov decision processes (MDPs), with user preferences over multiple temporal goals. Existing works reflect such preferences as a prioritized list of…

Pre-trained large language models (LLMs) show promise for robotic task planning but often struggle to guarantee correctness in long-horizon problems. Task and motion planning (TAMP) addresses this by grounding symbolic plans in low-level…

There has been substantial progress in the inference of formal behavioural specifications from sample trajectories, for example, using Linear Temporal Logic (LTL). However, these techniques cannot handle specifications that correctly…

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…

Robot control policies for temporally extended and sequenced tasks are often characterized by discontinuous switches between different local dynamics. These change-points are often exploited in hierarchical motion planning to build…

Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…

We provide a dynamic programming algorithm for the monitoring of a fragment of Timed Propositional Temporal Logic (TPTL) specifications. This fragment of TPTL, which is more expressive than Metric Temporal Logic, is characterized by…

Sequential decision-making in high-dimensional continuous action spaces, particularly in stochastic environments, faces significant computational challenges. We explore this challenge in the traditional offline RL setting, where an agent…

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…

Lazy search algorithms have been developed to efficiently solve planning problems in domains where the computational effort is dominated by the cost of edge evaluation. The existing algorithms operate by intelligently balancing…

In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…