相关论文: Power Line Inspection Tasks with Multi-Aerial Robo…

In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…

This letter aims to generate a continuous-time trajectory consisting of piecewise B\'ezier curves that satisfy signal temporal logic (STL) specifications with piecewise time-varying robustness. Our time-varying robustness is less…

Signal temporal logic (STL) is a powerful tool for describing complex behaviors for dynamical systems. Among many approaches, the control problem for systems under STL task constraints is well suited for learning-based solutions, because…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

We present a method for learning multi-stage tasks from demonstrations by learning the logical structure and atomic propositions of a consistent linear temporal logic (LTL) formula. The learner is given successful but potentially suboptimal…

Robotic systems operating in dynamic and uncertain environments increasingly require planners that satisfy complex task sequences while adhering to strict temporal constraints. Metric Interval Temporal Logic (MITL) offers a formal and…

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…

Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…

We study the problem of policy optimization (PO) with linear temporal logic (LTL) constraints. The language of LTL allows flexible description of tasks that may be unnatural to encode as a scalar cost function. We consider LTL-constrained…

Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. This work addresses controller synthesis for continuous-time systems subject to STL…

We propose a new specification language and control synthesis technique for single and multi-robot high-level tasks; these tasks include timing constraints and reaction to environmental events. Specifically, we define Event-based Signal…

This letter concerns optimal power transmission line inspection formulated as a proposed generalization of the traveling salesman problem for a multi-route one-depot scenario. The problem is formulated for an inspection vehicle with a…

We study motion planning under Signal Temporal Logic (STL), a useful formalism for specifying spatial-temporal requirements. We pose STL synthesis as a trajectory optimization problem leveraging the STL robustness semantics. To obtain a…

In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…

We present a method to solve planning problems involving sequential decision making in unpredictable environments while accomplishing a high level task specification expressed using the formalism of linear temporal logic. Our method…

Aerial package transportation often requires complex spatial and temporal specifications to be satisfied in order to ensure safe and timely delivery from one point to another. It is usually efficient to transport versatile payloads using…

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…

In this paper, we consider the problem of synthesizing a controller in the presence of uncertainty such that the resulting closed-loop system satisfies certain hard constraints while optimizing certain (soft) performance objectives. We…

This paper considers energy-aware route planning for a battery-constrained robot operating in environments with multiple recharging depots. The robot has a battery discharge time $D$, and it should visit the recharging depots at most every…

Real-world robotic systems must comply with safety requirements in the presence of uncertainty. To define and measure requirement adherence, Signal Temporal Logic (STL) offers a mathematically rigorous and expressive language. However,…