8 papers · 1 filter
Adaptive Obstacle-Aware Task Assignment and Planning for Heterogeneous Robot Teaming
Nan Li, Jiming Ren, Haris Miller +3
Multi-Agent Task Assignment and Planning (MATP) has attracted growing attention but remains challenging in terms of scalability, spatial reasoning, and adaptability in obstacle-ric…
Towards Tighter Convex Relaxation of Mixed-Integer Programs: Leveraging Logic Network Flow for Task and Motion Planning
Xuan Lin, Jiming Ren, Yandong Luo +2
This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow," that integrates temporal logic specifications into mixed-integer programs…
Accelerating Signal-Temporal-Logic-Based Task and Motion Planning of Bipedal Navigation using Benders Decomposition
Jiming Ren, Xuan Lin, Roman Mineyev +3
Task and motion planning under Signal Temporal Logic constraints is known to be NP-hard. A common class of approaches formulates these hybrid problems, which involve discrete task…
Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks
Abdulaziz Shamsah, Jesse Jiang, Ziwon Yoon +2
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we…
Optimization-based Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow
Xuan Lin, Jiming Ren, Samuel Coogan +1
This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", to integrate signal temporal logic (STL) specifications into efficient mix…
A Unified Approach to Multi-task Legged Navigation: Temporal Logic Meets Reinforcement Learning
Jesse Jiang, Samuel Coogan, Ye Zhao
This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the ro…