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

In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a…

There is a growing interest on formal methods-based robotic planning for temporal logic objectives. In this work, we extend the scope of existing synthesis methods to hyper-temporal logics. We are motivated by the fact that important…

As network traffic monitoring software for cybersecurity, malware detection, and other critical tasks becomes increasingly automated, the rate of alerts and supporting data gathered, as well as the complexity of the underlying model,…

Scheduling in the factory setting is compounded by computational complexity and temporal uncertainty. Together, these two factors guarantee that the process of constructing an optimal schedule will be costly and the chances of executing…

We tackle the problem of non-preemptive periodic scheduling with a harmonic set of periods. Problems of this kind arise within domains of periodic manufacturing and maintenance, and also during the design of industrial, automotive, and…

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…

We introduce the notion of online reactive planning with sensing actions for systems with temporal logic constraints in partially observable and dynamic environments. With incomplete information on the dynamic environment, reactive…

We consider the problem of synthesizing resilient and stochastically stable strategies for systems of cooperating agents striving to minimize the expected time between consecutive visits to selected locations in a known environment. A…

Automata models between determinism and nondeterminism/alternations can retain some of the algorithmic properties of deterministic automata while enjoying some of the expressiveness and succinctness of nondeterminism. We study three closely…

Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP methods rely heavily on the manual design of planning…

In automated planning, control parameters extend standard action representations through the introduction of continuous numeric decision variables. Existing state-of-the-art approaches have primarily handled control parameters as embedded…

This paper tackles the problem of integrated task and kinodynamic motion planning in uncertain environments. We consider a robot with nonlinear dynamics tasked with a Linear Temporal Logic over finite traces ($\ltlf$) specification…

Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…

Deliberating on large or continuous state spaces have been long standing challenges in reinforcement learning. Temporal Abstraction have somewhat made this possible, but efficiently planing using temporal abstraction still remains an issue.…

This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied…

The planning domain has experienced increased interest in the formal synthesis of decision-making policies. This formal synthesis typically entails finding a policy which satisfies formal specifications in the form of some well-defined…

We investigate the task and motion planning problem for dynamical systems under signal temporal logic (STL) specifications. Existing works on STL control synthesis mainly focus on generating plans that satisfy properties over a single…

Automated planning remains one of the most general paradigms in Artificial Intelligence, providing means of solving problems coming from a wide variety of domains. One of the key factors restricting the applicability of planning is its…

Monotonicity is a simple yet significant qualitative characteristic. We consider the problem of segmenting an array in up to K segments. We want segments to be as monotonic as possible and to alternate signs. We propose a quality metric for…

In this paper we look into the problem of planning over hybrid domains, where change can be both discrete and instantaneous, or continuous over time. In addition, it is required that each state on the trajectory induced by the execution of…