Výsledky vyhledávání - formal methods in automation and robotics

Vision-Based Reactive Temporal Logic Motion Planning for Quadruped Robots in Unstructured Dynamic Environments Autor Zhou, Zhangli, Chen, Ziyang, Cai, Mingyu, Li, Zhijun, Kan, Zhen, Su, Chun-Yi

“…Temporal logic-based motion planning has been extensively studied to address complex robotic tasks…”
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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 the cost of reduced transparency and lack…”
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Physically Feasible Repair of Reactive, Linear Temporal Logic-Based, High-Level Tasks Autor Pacheck, Adam, Kress-Gazit, Hadas

“… We present a method for combining symbolic repair with physical feasibility checking and implementation to automatically modify existing skills such that the robot can execute a previously infeasible task…”
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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 abstraction of robot mobility…”
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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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Temporal Logic Task Allocation in Heterogeneous Multirobot Systems Autor Luo, Xusheng, Zavlanos, Michael M.

“… Specifically, motivated by "lazy collision checking" methods in robotics, we first prune and relax the NBA by removing all negative atomic propositions, which simplifies the planning problem…”
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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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Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments Autor Shamsah, Abdulaziz, Gu, Zhaoyuan, Warnke, Jonas, Hutchinson, Seth, Zhao, Ye

“… The high-level task planner employs linear temporal logic for a reactive game synthesis between the robot and its environment and provides a formal guarantee on navigation safety and task completion…”
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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

“… Furthermore, a generalized robustness scoring method is employed to reflect user preferences and mitigate task conflicts…”
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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…”
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Temporal Logic Motion Planning With Convex Optimization via Graphs of Convex Sets Autor Kurtz, Vince, Lin, Hai

“… methods struggle to scale to complex specifications and high-dimensional system dynamics…”
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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…”
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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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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

“… By using modern computational algebraic geometry methods and an ad hoc symmetry breaking strategy, the formal resolution of this new equilibrium condition is rendered computationally feasible…”
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Fast Motion Planning in Dynamic Environments With Extended Predicate-Based Temporal Logic Autor Chen, Ziyang, Cai, Mingyu, Zhou, Zhangli, Li, Lin, Kan, Zhen

“…Formal languages effectively outline robots' task specifications, yet current temporal logic struggles to balance semantic expression with solution speed…”
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Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks Autor Gundana, David, Kress-Gazit, Hadas

“… Our method automatically provides feedback to the user if an Event-based STL task cannot be achieved…”
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A Framework for Formal Verification of Behavior Trees With Linear Temporal Logic Autor Biggar, Oliver, Zamani, Mohammad

“…Despite the current increasing popularity of Behavior Trees (BTs) in the robotics community, there does not currently exist a method to formally verify their correctness without compromising their most valuable traits…”
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Reachability Verification Based Reliability Assessment for Deep Reinforcement Learning Controlled Robotics and Autonomous Systems Autor Dong, Yi, Zhao, Xingyu, Wang, Sen, Huang, Xiaowei

“…Deep Reinforcement Learning (DRL) has achieved impressive performance in robotics and autonomous systems (RAS…”
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Maximum Allowable TCF Calibration Error for Robotic Pose Servoing Autor Hou, Jun, Xing, Shiyu, Ma, Yunkai, Jing, Fengshui, Tan, Min

“…Robotic pose servoing aims to move the robot end-effector to the target pose. Closed-loop servo systems can tolerate a small TCF (tool control frame…”
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