X Yin, B Gao, X Yu - Annual Reviews in Control, 2024 - Elsevier
In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide …
C Goerzen, Z Kong, B Mettler - Journal of Intelligent and Robotic Systems, 2010 - Springer
A fundamental aspect of autonomous vehicle guidance is planning trajectories. Historically, two fields have contributed to trajectory or motion planning methods: robotics and dynamics …
We present a new algorithm for task and motion planning (TMP) and discuss the requirements and abstractions necessary to obtain robust solutions for TMP in general. Our …
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 …
In this paper, we address the temporal logic motion planning problem for mobile robots that are modeled by second order dynamics. Temporal logic specifications can capture the usual …
M Kloetzer, C Belta - IEEE Transactions on Automatic Control, 2008 - ieeexplore.ieee.org
We consider the following problem: given a linear system and a linear temporal logic (LTL) formula over a set of linear predicates in its state variables, find a feedback control law with …
In this paper, different research trends that use symbolic techniques for robot motion planning and control are illustrated. As it often happens in new research areas, contributions …
We present a new constraint-based framework for task and motion planning (TMP). Our approach is extensible, probabilistically complete, and offers improved performance and …
This paper presents a geometry-based, multi-layered synergistic approach to solve motion planning problems for mobile robots involving temporal goals. The temporal goals are …