A temporal logic programming approach to planning
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Combinatorial Optimization"
DOI: 10.1007/s10878-019-00389-y
Abstract: This paper presents an approach to performing artificial intelligence planning through temporal logic programming with Search Control Knowledge (SCK). First, the planning problem described with Planning Domain Description Language is modeled as a program m… read more here.
Keywords: planning temporal; programming approach; temporal logic; logic programming ... See more keywords
Randomized sampling-based trajectory optimization for UAVs to satisfy linear temporal logic specifications
Sign Up to like & getrecommendations! Published in 2020 at "Aerospace Science and Technology"
DOI: 10.1016/j.ast.2019.105591
Abstract: Abstract We address the problem of optimal trajectory planning for a fixed wing- or quadrotor aircraft to satisfy linear temporal logic (LTL) specifications on its motion. To this end, we propose a randomized sampling-based motion… read more here.
Keywords: satisfy linear; sampling based; temporal logic; linear temporal ... See more keywords
A separation theorem for discrete-time interval temporal logic
Sign Up to like & getrecommendations! Published in 2022 at "Journal of Applied Non-Classical Logics"
DOI: 10.1080/11663081.2022.2050135
Abstract: Gabbay's separation theorem about linear temporal logic with past has proved to be one of the most useful theoretical results in temporal logic. In this paper, we establish an analogous statement about Moszkowski's discrete-time propositional… read more here.
Keywords: discrete time; separation theorem; interval temporal; separation ... See more keywords
Causal Signal Temporal Logic for the Environmental Control and Life Support System’s Fault Analysis and Explanation
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Access"
DOI: 10.1109/access.2023.3246512
Abstract: Modern cyber-physical systems would often fall victim to unanticipated anomalies. Humans are still required in many operations to troubleshoot and respond to such anomalies, such those in future deep space habitats. To maximize the effectiveness… read more here.
Keywords: system; causal signal; signal temporal; environmental control ... See more keywords
Control Barrier Functions for Signal Temporal Logic Tasks
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2018.2853182
Abstract: The need for computationally-efficient control methods of dynamical systems under temporal logic tasks has recently become more apparent. Existing methods are computationally demanding and hence often not applicable in practice. Especially with respect to multi-robot… read more here.
Keywords: control; control barrier; logic tasks; signal temporal ... See more keywords
A Framework for Formal Verification of Behavior Trees With Linear Temporal Logic
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2970634
Abstract: Despite the current increasing popularity of Behavior Trees (BTs) in the robotics community, there does not currently exist a method to formally verify their correctness without compromising their most valuable traits: modularity, flexibility and reusability.… read more here.
Keywords: trees linear; behavior; temporal logic; behavior trees ... See more keywords
Power Line Inspection Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3068114
Abstract: A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this letter. The planner allows the formulation… read more here.
Keywords: power line; inspection tasks; signal temporal; temporal logic ... See more keywords
Learning From Demonstrations Using Signal Temporal Logic in Stochastic and Continuous Domains
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3092676
Abstract: Learning control policies that are safe, robust and interpretable are prominent challenges in developing robotic systems. Learning-from-demonstrations with formal logic is an arising paradigm in reinforcement learning to estimate rewards and extract robot control policies… read more here.
Keywords: demonstrations using; logic stochastic; learning demonstrations; signal temporal ... See more keywords
Runtime Monitoring of Time Window Temporal Logic
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3160592
Abstract: Temporal logic is becoming increasingly popular for its application in the analysis and control of dynamic systems. Time window temporal logic (TWTL) is a rich expressive language for specifying time-bounded serial tasks in a compact… read more here.
Keywords: time; time window; robotics; window temporal ... See more keywords
Temporal Logic Guided Meta Q-Learning of Multiple Tasks
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3185384
Abstract: Reinforcement learning (RL) based approaches have enabled robots to perform various tasks. However, most existing RL algorithms focus on learning a particular task, without considering generalization to new tasks. To address this issue, by combining… read more here.
Keywords: multiple tasks; meta learning; learning multiple; logic guided ... See more keywords
Cooperative Object Manipulation Under Signal Temporal Logic Tasks and Uncertain Dynamics
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3200760
Abstract: We address the problem of cooperative manipulation of an object whose tasks are specified by a Signal Temporal Logic (STL) formula. We employ the Prescribed Performance Control (PPC) methodology to guarantee predefined transient and steady-state… read more here.
Keywords: cooperative object; signal temporal; stl formula; manipulation ... See more keywords