相关论文: Synthesis of timeline-based planning strategies av…

We consider piecewise-deterministic optimal control problems in which the environment randomly switches among several deterministic modes, and the goal is to optimize the expected cost up to the termination while taking the likelihood of…

Stochastic automata are a formal compositional model for concurrent stochastic timed systems, with general distributions and non-deterministic choices. Measures of interest are defined over schedulers that resolve the nondeterminism. In…

We propose a mathematical framework for synthesizing motion plans for multi-agent systems that fulfill complex, high-level and formal local specifications in the presence of inter-agent communication. The proposed synthesis framework…

We study the synthesis of policies for multi-agent systems to implement spatial-temporal tasks. We formalize the problem as a factored Markov decision process subject to so-called graph temporal logic specifications. The transition function…

We introduce the problem Synchronized Planarity. Roughly speaking, its input is a loop-free multi-graph together with synchronization constraints that, e.g., match pairs of vertices of equal degree by providing a bijection between their…

We prove a general existence result in stochastic optimal control in discrete time where controls take values in conditional metric spaces, and depend on the current state and the information of past decisions through the evolution of a…

In this paper, we introduce a lightweight dynamic epistemic logical framework for automated planning under initial uncertainty. We reduce plan verification and conformant planning to model checking problems of our logic. We show that the…

Planning and reasoning about actions and processes, in addition to reasoning about propositions, are important issues in recent logical and computer science studies. The widespread use of actions in everyday life such as IoT, semantic web…

This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL)…

The ability to plan with temporal abstractions is central to intelligent decision-making. Rather than reasoning over primitive actions, we study agents that compose pre-trained policies as temporally extended actions, enabling solutions to…

In domains ranging from computer vision to natural language processing, machine learning models have been shown to exhibit stark disparities, often performing worse for members of traditionally underserved groups. One factor contributing to…

We investigate planning in time-critical domains represented as Markov Decision Processes, showing that search based techniques can be a very powerful method for finding close to optimal plans. To reduce the computational cost of planning…

In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…

The problem of optimal motion planing and control is fundamental in robotics. However, this problem is intractable for continuous-time stochastic systems in general and the solution is difficult to approximate if non-instantaneous nonlinear…

Formal design of embedded and cyber-physical systems relies on mathematical modeling. In this paper, we consider the model class of hybrid automata whose dynamics are defined by affine differential equations. Given a set of time-series…

An asymptotically optimal sampling-based planner employs sampling to solve robot motion planning problems and returns paths with a cost that converges to the optimal solution cost, as the number of samples approaches infinity. This…

In this paper, we focus on the synthesis of secure timed systems which are modelled as timed automata. The security property that the system must satisfy is a non-interference property. Intuitively, non-interference ensures the absence of…

Temporal planning often involves numeric effects that are directly proportional to their action's duration. These include continuous effects, where a numeric variable is subjected to a rate of change while the action is being executed, and…

The treatment of exogenous events in planning is practically important in many real-world domains where the preconditions of certain plan actions are affected by such events. In this paper we focus on planning in temporal domains with…

We present time-constrained automata (TCA), a model for hard real-time computation in which agents behaviors are modeled by automata and constrained by time intervals. TCA actions can have multiple start time and deadlines, can be…