4 accepted papers
We address the problem of resilient motion planning for robots operating under Signal Temporal Logic (STL) specifications in dynamic environments. In such settings, unforeseen events-such as the emergence of dynamic obstacles-can render the original STL specification infeasible. To address this, we
We address a coordination problem for a team of heterogeneous and energy-limited agents to achieve cooperative tasks given as team-level spatio-temporal specifications. We assume that agents have stochastic energy dynamics and do not have identical capabilities. We define the team-level specificatio…
We address the problem of coordinating the trajectories of heterogeneous multi-agent systems under spatio-temporal specifications. In particular, we consider global Signal Temporal Logic (STL) constraints to express the number and type of agents that should be present at specific locations within th
We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with others. We assume that each agent's task is expressed as a Time-Window Temporal Logic (TWTL) specification defined over a 3D environment. We propose a decentralized reced…