Výsledky vyhľadávania - "formal methods in robotics and automation"

Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control Autor Dawson, Charles, Gao, Sicun, Fan, Chuchu

“…Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics, but this performance comes at…”
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Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets Autor Pittiglio, Giovanni, Brockdorff, Michael, da Veiga, Tomas, Davy, Joshua, Chandler, James Henry, Valdastri, Pietro

“…Magnetically actuated robots have proven effective in several applications, specifically in medicine. However, generating high actuating fields with a high…”
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Optimal Probabilistic Motion Planning With Potential Infeasible LTL Constraints Autor Cai, Mingyu, Xiao, Shaoping, Li, Zhijun, Kan, Zhen

“…This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision…”
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An Abstraction-Free Method for Multirobot Temporal Logic Optimal Control Synthesis Autor Luo, Xusheng, Kantaros, Yiannis, Zavlanos, Michael M.

“…The majority of existing linear temporal logic (LTL) planning methods rely on the construction of a discrete product automaton, which combines a discrete…”
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Temporal Logic Task Allocation in Heterogeneous Multirobot Systems Autor Luo, Xusheng, Zavlanos, Michael M.

“…We consider the problem of optimally allocating tasks, expressed as global linear temporal logic (LTL) specifications, to teams of heterogeneous mobile robots…”
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Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments Autor Shamsah, Abdulaziz, Gu, Zhaoyuan, Warnke, Jonas, Hutchinson, Seth, Zhao, Ye

“…This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment…”
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Physically Feasible Repair of Reactive, Linear Temporal Logic-Based, High-Level Tasks Autor Pacheck, Adam, Kress-Gazit, Hadas

“…A typical approach to creating complex robot behaviors is to compose atomic controllers, or skills, such that the resulting behavior satisfies a high-level…”
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Temporal Logic Motion Planning With Convex Optimization via Graphs of Convex Sets Autor Kurtz, Vince, Lin, Hai

“…Temporal logic is a concise way of specifying complex tasks. However, motion planning to achieve temporal logic specifications is difficult, and existing…”
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Task-Driven Detection of Distribution Shifts With Statistical Guarantees for Robot Learning Autor Farid, Alec, Veer, Sushant, Pachisia, Divyanshu, Majumdar, Anirudha

“…Our goal is to perform out-of-distribution (OOD) detection , i.e., to detect when a robot is operating in environments drawn from a different distribution than…”
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Simultaneous Task Allocation and Planning for Multirobots Under Hierarchical Temporal Logic Specifications Autor Luo, Xusheng, Liu, Changliu

“…Research in robotic planning with temporal logic specifications, such as linear temporal logic (LTL), has relied on single formulas. However, as task…”
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Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis Autor Lin, Yuanfei, Xing, Zekun, Han, Xuyuan, Althoff, Matthias

“…Complying with traffic rules is challenging for automated vehicles, as numerous rules need to be considered simultaneously. If a planned trajectory violates…”
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A Signal Temporal Logic approach for task-based coordination of multi-aerial systems: A wind turbine inspection case study Autor Silano, Giuseppe, Caballero, Alvaro, Liuzza, Davide, Iannelli, Luigi, Bogdan, Stjepan, Saska, Martin

“…The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine…”
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Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing Autor Colotti, Alessandro, Garcia Fontan, Jorge, Goldsztejn, Alexandre, Briot, Sebastien, Chaumette, Francois, Kermorgant, Olivier, Safey El Din, Mohab

“…Local minima are a well-known drawback of image-based visual servoing systems. Up to now, there were no formal guarantees on their number, or even their…”
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Optimal Stochastic Vehicle Path Planning Using Covariance Steering Autor Okamoto, Kazuhide, Tsiotras, Panagiotis

“…This letter addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, a fundamental robotics problem. While several path…”
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Planning of Heterogeneous Multi-Agent Systems Under Signal Temporal Logic Specifications With Integral Predicates Autor Buyukkocak, Ali Tevfik, Aksaray, Derya, Yazcoglu, Yasin

“…We address the problem of coordinating the trajectories of heterogeneous multi-agent systems under spatio-temporal specifications. In particular, we consider…”
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Learning From Demonstrations Using Signal Temporal Logic in Stochastic and Continuous Domains Autor Puranic, Aniruddh G., Deshmukh, Jyotirmoy V., Nikolaidis, Stefanos

“…Learning control policies that are safe, robust and interpretable are prominent challenges in developing robotic systems. Learning-from-demonstrations with…”
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Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks Autor Gundana, David, Kress-Gazit, Hadas

“…We propose a new specification language and control synthesis technique for single and multi-robot high-level tasks; these tasks include timing constraints and…”
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Fast Decomposition of Temporal Logic Specifications for Heterogeneous Teams Autor Leahy, Kevin, Jones, Austin, Vasile, Cristian-Ioan

“…We focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be…”
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ILCL: Inverse Logic-Constraint Learning From Temporally Constrained Demonstrations Autor Cho, Minwoo, Jang, Jaehwi, Park, Daehyung

“…We aim to solve the problem of temporal-constraint learning from demonstrations to reproduce demonstration-like logic-constrained behaviors. Learning logic…”
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On Provably Safe and Live Multirobot Coordination With Online Goal Posting Autor Mannucci, Anna, Pallottino, Lucia, Pecora, Federico

“…A standing challenge in multirobot systems is to realize safe and efficient motion planning and coordination methods that are capable of accounting for…”
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