相关论文: Automating Bird Diverter Installation through Mult…

This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet of multi-rotors. The proposed solution extends our previous motion planner to compute feasible and constrained…

A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the…

The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible…

This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths…

This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…

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…

Inspection of power line infrastructures must be periodically conducted by electric companies in order to ensure reliable electric power distribution. Research efforts are focused on automating the power line inspection process by looking…

This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

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…

Urban Air Mobility (UAM), or the scenario where multiple manned and Unmanned Aerial Vehicles (UAVs) carry out various tasks over urban airspaces, is a transportation concept of the future that is gaining prominence. UAM missions with…

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…

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…

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…

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…

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…

Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…

We present a hybrid compositional approach for real-time mission planning for multi-rotor unmanned aerial vehicles (UAVs) in a time critical search and rescue scenario. Starting with a known environment, we specify the mission using Metric…

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…

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…