Formal synthesis of controllers for safety-critical autonomous systems: Developments and challenges
In recent years, formal methods have been extensively used in the design of autonomous
systems. By employing mathematically rigorous techniques, formal methods can provide …
systems. By employing mathematically rigorous techniques, formal methods can provide …
Language-conditioned path planning
Contact is at the core of robotic manipulation. At times, it is desired (eg manipulation and
grasping), and at times, it is harmful (eg when avoiding obstacles). However, traditional path …
grasping), and at times, it is harmful (eg when avoiding obstacles). However, traditional path …
[HTML][HTML] Collaborative mobile robotics for semantic mapping: A survey
Ensuring safety in human–robot collaboration is one of the main challenges in mobile
robotics today. Semantic maps are a potential solution because they provide semantic …
robotics today. Semantic maps are a potential solution because they provide semantic …
Temporal logic motion planning with convex optimization via graphs of convex sets
Temporal logic is a concise way of specifying complex tasks. However, motion planning to
achieve temporal logic specifications is difficult, and existing methods struggle to scale to …
achieve temporal logic specifications is difficult, and existing methods struggle to scale to …
Multi-robot mission planning in dynamic semantic environments
S Kalluraya, GJ Pappas… - 2023 IEEE International …, 2023 - ieeexplore.ieee.org
This paper addresses a new semantic multi-robot planning problem in uncertain and
dynamic environments. Particularly, the environment is occupied with mobile and uncertain …
dynamic environments. Particularly, the environment is occupied with mobile and uncertain …
SeMLaPS:: Real-time Semantic Mapping with Latent Prior Networks and Quasi-Planar Segmentation
The availability of real-time semantics greatly improves the core geometric functionality of
SLAM systems, enabling numerous robotic and AR/VR applications. We present a new …
SLAM systems, enabling numerous robotic and AR/VR applications. We present a new …
Safe perception-based control under stochastic sensor uncertainty using conformal prediction
We consider perception-based control using state estimates that are obtained from high-
dimensional sensor measurements via learning-enabled perception maps. However, these …
dimensional sensor measurements via learning-enabled perception maps. However, these …
Reinforcement Learning of Action and Query Policies with LTL Instructions under Uncertain Event Detector
W Hatanaka, R Yamashina… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
Reinforcement learning (RL) with linear temporal logic (LTL) objectives can allow robots to
carry out symbolic event plans in unknown environments. Most existing methods assume …
carry out symbolic event plans in unknown environments. Most existing methods assume …
Cautious planning with incremental symbolic perception: Designing verified reactive driving maneuvers
This work presents a step towards utilizing incrementally-improving symbolic perception
knowledge of the robot's surroundings for provably correct reactive control synthesis applied …
knowledge of the robot's surroundings for provably correct reactive control synthesis applied …
[HTML][HTML] Semantic-structure-aware multi-level information fusion for robust global orientation optimization of autonomous mobile robots
G Xiang, S Dian, N Zhao, G Wang - Sensors, 2023 - mdpi.com
Multi-camera-based simultaneous localization and mapping (SLAM) has been widely
applied in various mobile robots under uncertain or unknown environments to accomplish …
applied in various mobile robots under uncertain or unknown environments to accomplish …