Formal specification and verification of autonomous robotic systems: A survey
Autonomous robotic systems are complex, hybrid, and often safety critical; this makes their
formal specification and verification uniquely challenging. Though commonly used, testing …
formal specification and verification uniquely challenging. Though commonly used, testing …
Motion planning with temporal-logic specifications: Progress and challenges
Integrating task and motion planning is becoming increasingly important due to the
recognition that a growing number of robotics applications in navigation, search-and-rescue …
recognition that a growing number of robotics applications in navigation, search-and-rescue …
Control synthesis from linear temporal logic specifications using model-free reinforcement learning
We present a reinforcement learning (RL) frame-work to synthesize a control policy from a
given linear temporal logic (LTL) specification in an unknown stochastic environment that …
given linear temporal logic (LTL) specification in an unknown stochastic environment that …
Multi-agent plan reconfiguration under local LTL specifications
M Guo, DV Dimarogonas - The International Journal of …, 2015 - journals.sagepub.com
We propose a cooperative motion and task planning scheme for multi-agent systems where
the agents have independently assigned local tasks, specified as linear temporal logic …
the agents have independently assigned local tasks, specified as linear temporal logic …
Simultaneous task allocation and planning for temporal logic goals in heterogeneous multi-robot systems
P Schillinger, M Bürger… - … international journal of …, 2018 - journals.sagepub.com
This paper describes a framework for automatically generating optimal action-level behavior
for a team of robots based on temporal logic mission specifications under resource …
for a team of robots based on temporal logic mission specifications under resource …
Optimality and robustness in multi-robot path planning with temporal logic constraints
In this paper we present a method for automatic planning of optimal paths for a group of
robots that satisfy a common high-level mission specification. The motion of each robot is …
robots that satisfy a common high-level mission specification. The motion of each robot is …
Scalable and robust algorithms for task-based coordination from high-level specifications (scratches)
Many existing approaches for coordinating heterogeneous teams of robots either consider
small numbers of agents, are application-specific, or do not adequately address common …
small numbers of agents, are application-specific, or do not adequately address common …
STyLuS*: A Temporal Logic Optimal Control Synthesis Algorithm for Large-Scale Multi-Robot Systems
Y Kantaros, MM Zavlanos - The International Journal of …, 2020 - journals.sagepub.com
This article proposes a new highly scalable and asymptotically optimal control synthesis
algorithm from linear temporal logic specifications, called STyLu S* for large-Scale optimal …
algorithm from linear temporal logic specifications, called STyLu S* for large-Scale optimal …
Multi-agent planning under local LTL specifications and event-based synchronization
J Tumova, DV Dimarogonas - Automatica, 2016 - Elsevier
We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-
level, long-term goals that are assigned to each agent individually. As the agents might not …
level, long-term goals that are assigned to each agent individually. As the agents might not …
GRSTAPS: Graphically recursive simultaneous task allocation, planning, and scheduling
Effective deployment of multi-robot teams requires solving several interdependent problems
at varying levels of abstraction. Specifically, heterogeneous multi-robot systems must …
at varying levels of abstraction. Specifically, heterogeneous multi-robot systems must …