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检索条件"主题词=Formal methods in robotics and automation"
67 条 记 录,以下是31-40 订阅
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Optimal Probabilistic Motion Planning With Potential Infeasible LTL Constraints
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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2023年 第1期68卷 301-316页
作者: Cai, Mingyu Xiao, Shaoping Li, Zhijun Kan, Zhen Lehigh Univ Dept Mech Engn Bethlehem PA 18015 USA Univ Iowa Univ Iowa Technol Inst Dept Mech Engn Iowa City IA 52246 USA Univ Sci & Technol China Dept Automat Hefei 230026 Peoples R China
This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), the control objective is to synthesize a ... 详细信息
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Overcoming Exploration: Deep Reinforcement Learning for Continuous Control in Cluttered Environments From Temporal Logic Specifications
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IEEE robotics AND automation LETTERS 2023年 第4期8卷 2158-2165页
作者: Cai, Mingyu Aasi, Erfan Belta, Calin Vasile, Cristian-Ioan Lehigh Univ Mech Engn Bethlehem PA 18015 USA Boston Univ Mech Engn Dept Boston MA 02215 USA
Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually de... 详细信息
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A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems
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IEEE ACCESS 2023年 11卷 81361-81377页
作者: Caballero, Alvaro Silano, Giuseppe Univ Seville Dept Syst Engn & Automat Seville 41092 Spain Czech Tech Univ Dept Cybernet Prague 12135 Czech Republic
This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet of multi-rotors. The proposed solution extends our previous motion planner to compute feasible ... 详细信息
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Motion Planning Using Hyperproperties for Time Window Temporal Logic
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IEEE robotics AND automation LETTERS 2023年 第8期8卷 4386-4393页
作者: Bonnah, Ernest Nguyen, Luan Hoque, Khaza Anuarul Univ Missouri Dept Elect & Comp Engn Columbia MO 65211 USA Univ Dayton Dept Comp Sci Dayton OH 45469 USA
Hyperproperties are increasingly popular in verifying security policies and synthesis of control for dynamic systems. Hyperproperties generalize trace properties to enable reasoning about multiple computation traces t... 详细信息
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Learning Linear Temporal Properties for Autonomous Robotic Systems
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IEEE robotics AND automation LETTERS 2023年 第5期8卷 2930-2937页
作者: Ghiorzi, Enrico Colledanchise, Michele Piquet, Gianluca Bernagozzi, Stefano Tacchella, Armando Natale, Lorenzo Ist Italiano Tecnol I-40064 Genoa Italy Univ Genoa DIBRIS I-16100 Genoa Italy
The problem of passive learning of linear temporal logic formulae consists in finding the best explanation for how two sets of execution traces differ, in the form of the shortest formula that separates the two sets. ... 详细信息
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Reinforcement learning with soft temporal logic constraints using limit-deterministic generalized Büchi automaton
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Journal of automation and Intelligence 2025年 第1期4卷 39-51页
作者: Mingyu Cai Zhangli Zhou Lin Li Shaoping Xiao Zhen Kan University of California RiversideCA92521USA University of Science and Technology of China Hefei230026China The University of Iowa IA52246USA
This paper investigates control synthesis for motion planning under conditions of uncertainty,specifically in robot motion and environmental properties,which are modeled using a probabilistic labeled Markov decision p... 详细信息
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K-RAPID: A formal Executable Semantics of the RAPID Robot Programming Language  10
K-RAPID: A Formal Executable Semantics of the RAPID Robot Pr...
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10th ACM Cyber-Physical System Security Workshop (ACM CPSS)
作者: Wang, Zichen Wang, Jingyi Song, Fu Wang, Kun Pu, Hongyi Cheng, Peng Zhejiang Univ Coll Control Sci & Engn Hangzhou Peoples R China Chinese Acad Sci Key Lab Syst Software Beijing Peoples R China Chinese Acad Sci Inst Software State Key Lab Comp Sci Beijing Peoples R China
Industrial robots are widely used in industrial production as mechanical devices. It is essential to guarantee that their control software operates safely and properly, as any functional or security-related defects ma... 详细信息
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Fast Decomposition of Temporal Logic Specifications for Heterogeneous Teams
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IEEE robotics AND automation LETTERS 2022年 第2期7卷 2297-2304页
作者: Leahy, Kevin Jones, Austin Vasile, Cristian-Ioan MIT Lincoln Lab Lexington MA 02421 USA Lehigh Univ Dept Mech Engn & Mech Bethlehem PA 18015 USA
We focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-prob... 详细信息
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Runtime Monitoring of Time Window Temporal Logic
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IEEE robotics AND automation LETTERS 2022年 第3期7卷 5888-5895页
作者: Bonnah, Ernest Hoque, Khaza Anuarul Univ Missouri Dept Elect & Comp Engn Columbia MO 65211 USA
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 ta... 详细信息
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Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration
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IEEE robotics AND automation LETTERS 2022年 第4期7卷 12118-12125页
作者: Fornasier, Alessandro Ng, Yonhon Brommer, Christian Bohm, Christoph Mahony, Robert Weiss, Stephan Univ Klagenfurt Control Networked Syst Grp A-9020 Klagenfurt Austria Australian Natl Univ Syst Theory & Robot Lab Canberra ACT 2601 Australia
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (... 详细信息
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