相关论文: Hierarchical Motion Planning under Probabilistic T…

This work considers the path planning problem for a team of identical robots evolving in a known environment. The robots should satisfy a global specification given as a Linear Temporal Logic (LTL) formula over a set of regions of interest.…

This paper presents a neurosymbolic framework to solve motion planning problems for mobile robots involving temporal goals. The temporal goals are described using temporal logic formulas such as Linear Temporal Logic (LTL) to capture…

We present a model-free reinforcement learning algorithm to find an optimal policy for a finite-horizon Markov decision process while guaranteeing a desired lower bound on the probability of satisfying a signal temporal logic (STL)…

In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…

In this work, we focus on the problem of safe policy transfer in reinforcement learning: we seek to leverage existing policies when learning a new task with specified constraints. This problem is important for safety-critical applications…

Autonomous highway driving involves high-speed safety risks due to limited reaction time, where rare but dangerous events may lead to severe consequences. This places stringent requirements on trajectory planning in terms of both…

Autonomous mobile robots operating in complex, dynamic environments face the dual challenge of navigating large-scale, structurally diverse spaces with static obstacles while safely interacting with various moving agents. Traditional…

This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…

Achieving safe autonomous navigation systems is critical for deploying robots in dynamic and uncertain real-world environments. In this paper, we propose a hierarchical control framework leveraging neural network verification techniques to…

In this work, we consider the problem of planning for temporal logic tasks in large robot environments. When full task compliance is unattainable, we aim to achieve the best possible task satisfaction by integrating user preferences for…

Robots often face challenges in domestic environments where visual feedback is ineffective, such as retrieving objects obstructed by occlusions or finding a light switch in the dark. In these cases, utilizing contacts to localize the target…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

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…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

Learning-based driving solution, a new branch for autonomous driving, is expected to simplify the modeling of driving by learning the underlying mechanisms from data. To improve the tactical decision-making for learning-based driving…

Safety in goal directed Reinforcement Learning (RL) settings has typically been handled through constraints over trajectories and have demonstrated good performance in primarily short horizon tasks. In this paper, we are specifically…

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…

Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…

Reinforcement Learning (RL) has emerged as an efficient method of choice for solving complex sequential decision making problems in automatic control, computer science, economics, and biology. In this paper we present a model-free RL…

In this paper, we investigate the problem of planning an optimal infinite path for a single robot to achieve a linear temporal logic (LTL) task with security guarantee. We assume that the external behavior of the robot, specified by an…