相关论文: Temporal Waypoint Navigation of Multi-UAV Payload …

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…

In modern networking research, infrastructure-assisted unmanned autonomous vehicles (UAVs) are actively considered for real-time learning-based surveillance and aerial data-delivery under unexpected 3D free mobility and coordination. In…

We investigate how formal temporal logic specifications can enhance the safety and robustness of reinforcement learning (RL) control in aerospace applications. Using the open source AeroBench F-16 simulation benchmark, we train a Proximal…

In post-disaster scenarios, the rapid deployment of adequate communication infrastructure is essential to support disaster search, rescue, and recovery operations. To achieve this, uncrewed aerial vehicle (UAV) has emerged as a promising…

Preflight planning for large-scale Unmanned Aerial Vehicle (UAV) fleets in dynamic, shared airspace presents significant challenges, including temporal No-Fly Zones (NFZs), heterogeneous vehicle profiles, and strict delivery deadlines.…

Reinforcement learning (RL) is a promising approach. However, success is limited to real-world applications, because ensuring safe exploration and facilitating adequate exploitation is a challenge for controlling robotic systems with…

This paper presents a new method for integrated time-optimal routing and trajectory optimization of multirotor unmanned aerial vehicles (UAVs). Our approach extends the well-known Traveling Salesman Problem by accounting for the limited…

We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes particularly challenging due to (i) unknown disturbances,…

We introduce a hybrid spatiotemporal logic for automotive safety applications (HSTL), focused on highway driving. Spatiotemporal logic features specifications about vehicles throughout space and time, while hybrid logic enables precise…

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…

This paper addresses the challenge of energy-constrained maritime monitoring networks by proposing an unmanned aerial vehicle (UAV)-enabled integrated sensing, communication, powering and backhaul transmission scheme with a tailored…

In many multirobot applications, planning trajectories in a way to guarantee that the collective behavior of the robots satisfies a certain high-level specification is crucial. Motivated by this problem, we introduce counting temporal…

Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…

Safety is crucial for robotic missions within an uncertain environment. Common safety requirements such as collision avoidance are only state-dependent, which can be restrictive for complex missions. In this work, we address a more general…

This paper introduces a method for effectively controlling the movement of an Unmanned Aerial Vehicle (UAV) within a tunnel. The primary challenge of this problem lies in the UAV's exposure to nonlinear distance-dependent torques and forces…

Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…

Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…

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…

Temporal logics provide a formalism for expressing complex system specifications. A large body of literature has addressed the verification and the control synthesis problem for deterministic systems under such specifications. For…

Unmanned aerial vehicles (UAVs) have been widely adopted in various real-world applications. However, the control and optimization of multi-UAV systems remain a significant challenge, particularly in dynamic and constrained environments.…