相关论文: A framework for power line inspection tasks with m…

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…

Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional…

We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world…

Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…

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…

This paper concerns fault-tolerant power transmission line inspection planning as a generalization of the multiple traveling salesmen problem. The addressed inspection planning problem is formulated as a single-depot multiple-vehicle…

Signal temporal logic (STL) provides a powerful, flexible framework for specifying complex autonomy tasks; however, existing methods for planning based on STL specifications have difficulty scaling to long-horizon tasks and are not robust…

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…

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 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…

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…

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…

This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…

Real-world scenarios are characterized by timing uncertainties, e.g., delays, and disturbances. Algorithms with temporal robustness are crucial in guaranteeing the successful execution of tasks and missions in such scenarios. We study…

Multi-task learning (MTL) seeks to improve the generalized performance of learning specific tasks, exploiting useful information incorporated in related tasks. As a promising area, this paper studies an MTL-based control approach…

This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level logical and timing requirements while respecting low-level…

Signal Temporal Logic (STL) is expressive formal language that specifies spatio-temporal requirements in robotics. Its quantitative robustness semantics can be easily integrated with optimization-based control frameworks. However, STL…

Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement learning methods to find policies which guarantee…

In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task…

The software architecture behind modern autonomous vehicles (AV) is becoming more complex steadily. Safety verification is now an imminent task prior to the large-scale deployment of such convoluted models. For safety-critical tasks in…