Search Results - formal methods in robotics and automation

Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control by 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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An Abstraction-Free Method for Multirobot Temporal Logic Optimal Control Synthesis by 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 by 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 by 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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Physically Feasible Repair of Reactive, Linear Temporal Logic-Based, High-Level Tasks by 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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Temporal Logic Task Allocation in Heterogeneous Multirobot Systems by 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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Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments by 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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Task-Driven Detection of Distribution Shifts With Statistical Guarantees for Robot Learning by 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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A Signal Temporal Logic approach for task-based coordination of multi-aerial systems: A wind turbine inspection case study by 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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Temporal Logic Motion Planning With Convex Optimization via Graphs of Convex Sets by 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 by 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 by 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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Optimal Stochastic Vehicle Path Planning Using Covariance Steering by 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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Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing by 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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Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks by 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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Planning of Heterogeneous Multi-Agent Systems Under Signal Temporal Logic Specifications With Integral Predicates by 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 by Puranic, Aniruddh G., Deshmukh, Jyotirmoy V., Nikolaidis, Stefanos

“…Learning control policies that are safe, robust and interpretable are prominent challenges in developing robotic systems…”
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A Framework for Formal Verification of Behavior Trees With Linear Temporal Logic by 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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Fast Decomposition of Temporal Logic Specifications for Heterogeneous Teams by 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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Reachability Verification Based Reliability Assessment for Deep Reinforcement Learning Controlled Robotics and Autonomous Systems by 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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