13 papers
Belief Space Planning for Risk Signal Temporal Logic via Mixed-Integer Convex Programming
Shaohang Han, Joris Verhagen, Kaier Liang +1
Signal Temporal Logic (STL) specifies robot tasks with spatio-temporal requirements, and its robustness semantics allow planning by trajectory optimization. In practice, robots est…
Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization
Lukas Pries, Joris Verhagen, Jon Arrizabalaga +3
We present a fast numerical method for safe continuous-time motion planning under Temporal Logic (TL) specifications. The method generates smooth continuous trajectories that remai…
Resilient Motion Planning for Free-Flying Space Robots under Actuator Failures
Nicolas de Maddalena, Joris Verhagen, Jana Tumova
Free-flying robots rely on multiple thrusters to maneuver in space. If one or more of these thrusters fail, the robot may lose control authority and risk mission failure. At the sa…
mjorbit: A Simulation Framework for Space Robotics
John Z. Zhang, Joris Verhagen, Fausto Vega +2
This paper presents a general framework for simulating multi-body space robots with contact. We bring efficient, large-scale robot simulation to in-space servicing, assembly, and m…
Temporal logics and formal synthesis for robot planning and control
Jana Tumova, Joris Verhagen, Matti Vahs
As robots move from controlled environments into real-world settings, it becomes increasingly crucial to ensure that they perform as expected. A key step toward that goal is a rigo…
Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control
Matti Vahs, Joris Verhagen, Jana Tumova
Partially Observable Markov Decision Processes (POMDPs) provide a principled framework for robot decision-making under uncertainty. Solving reach-avoid POMDPs, however, requires co…
Validation of Space Robotics in Underwater Environments via Disturbance Robustness Equivalency
Joris Verhagen, Elias Krantz, Chelsea Sidrane +9
We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions ma…
Marinarium: A Modular Experimental Facility for Reproducible Maritime and Space-Analog Field Robotics
Ignacio Torroba, David Dorner, Victor Nan Fernandez-Ayala +14
Field robotics research in maritime and space domains is constrained by a persistent gap between low-cost, low-fidelity simulation and costly offshore experimentation. Instrumented…
Exact Smooth Reformulations for Trajectory Optimization Under Signal Temporal Logic Specifications
Shaohang Han, Joris Verhagen, Jana Tumova
We study motion planning under Signal Temporal Logic (STL), a useful formalism for specifying spatial-temporal requirements. We pose STL synthesis as a trajectory optimization prob…
Collaborative Object Transportation in Space via Impact Interactions
Joris Verhagen, Jana Tumova
We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject…
Towards Open-Source and Modular Space Systems with ATMOS
Pedro Roque, Sujet Phodapol, Elias Krantz +11
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large struct…
Robust STL Control Synthesis under Maximal Disturbance Sets
Joris Verhagen, Lars Lindemann, Jana Tumova
This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, a…
Temporally Robust Multi-Agent STL Motion Planning in Continuous Time
Joris Verhagen, Lars Lindemann, Jana Tumova
Signal Temporal Logic (STL) is a formal language over continuous-time signals (such as trajectories of a multi-agent system) that allows for the specification of complex spatial an…