3 accepted papers
We present a bounded-memory receding horizon approach to robot control for complex specifications in dynamic environments. We use Signal Temporal Logic, a logic that quantifies how robustly trajectories satisfy the specification, to specify robot behavior. To handle unbounded specifications, we cons…
Signal Temporal Logic robustness is a common objective for optimal robot control, but its dependence on history limits the robot's decision-making capabilities when used in model predictive control approaches. In this work, we introduce Signal Temporal Logic robustness-to-go, a new quantitative sema…
We consider the problem of motion and communication planning under uncertainty with limited information from a remote sensor network. Because the remote sensors are power and bandwidth limited, we use event-triggered (ET) estimation to manage communication costs. We introduce a fast and efficient sa…