3 papers
cs.RO2025
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…
cs.RO2025
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…
cs.RO2024
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…