10 papers
Safety-aware Model Predictive Path Integral Control with Signal Temporal Logic
Yiqi Zhao, Taekyung Kim, Hideki Okamoto +4
Safety-aware motion planning remains a challenge in robotics, especially when missions are time-critical and are under complex specifications. In this paper, we propose safety-awar…
Multi-Agent Planning with Spatio-Temporal and Topological Constraints using STL-GO
Sheryl Paul, Vidisha Kudalkar, Anand Balakrishnan +3
Multi-agent planning problems arise in a variety of engineering applications, such as multi-robot wildfire fighting and unmanned aerial inspection in factories. A particular challe…
An Algebraic Framework for Quantitative Semantics of Spatio-Temporal Logic with Graph Operators
Sheryl Paul, Vidisha Kudalkar, Anand Balakrishnan +3
Spatio-Temporal Logic with Graph Operators (STL-GO) extends Signal Temporal Logic (STL) to multi-agent systems via graph operators that count neighboring agents satisfying a proper…
A Reactive Redistribution Mechanism for STL Tasks in Multi-Agent Systems Under Time-Varying Communication
Gregorio Marchesini, Bjarne Jan Jesse Moro, Siyuan Liu +2
We present a communication-aware task decomposition framework for multi-agent systems with collaborative relative configuration objectives specified in Signal Temporal Logic (STL),…
UMBRELLA: Uncertainty-aware Multi-robot Reactive Coordination under Dynamic Temporal Logic Tasks
Qisheng Zhao, Meng Guo, Hengxuan Du +2
Multi-robot systems can be extremely efficient for accomplishing team-wise tasks by acting concurrently and collaboratively. However, most existing methods either assume static tas…
Spatiotemporal Robustness of Temporal Logic Tasks using Multi-Objective Reasoning
Oliver Schön, Lars Lindemann
The reliability of autonomous systems depends on their robustness, i.e., their ability to meet their objectives under uncertainty. In this paper, we study spatiotemporal robustness…
Multi-Agent Path Finding Among Dynamic Uncontrollable Agents with Statistical Safety Guarantees
Kegan J. Strawn, Thomy Phan, Eric Wang +3
Existing multi-agent path finding (MAPF) solvers do not account for uncertain behavior of uncontrollable agents. We present a novel variant of Enhanced Conflict-Based Search (ECBS)…
STL-GO: Spatio-Temporal Logic with Graph Operators for Distributed Systems with Multiple Network Topologies
Yiqi Zhao, Xinyi Yu, Bardh Hoxha +3
Multi-agent systems (MASs) consisting of a number of autonomous agents that communicate, coordinate, and jointly sense the environment to achieve complex missions can be found in a…
Signal Temporal Logic Control Synthesis among Uncontrollable Dynamic Agents with Conformal Prediction
Xinyi Yu, Yiqi Zhao, Xiang Yin +1
The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents' a-priori unknown behavior. Existing works…
Sleep When Everything Looks Fine: Self-Triggered Monitoring for Signal Temporal Logic Tasks
Chuwei Wang, Xinyi Yu, Jianing Zhao +2
Online monitoring is a widely used technique in assessing if the performance of the system satisfies some desired requirements during run-time operation. Existing works on online m…