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04/28/2023
Ensuring Reliable Robot Task Performance through Probabilistic Rare-Event Verification and Synthesis
Providing guarantees on the safe operation of robots against edge cases ...
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03/31/2023
Online Modifications for Event-based Signal Temporal Logic Specifications
In this paper we present a grammar and control synthesis framework for o...
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01/13/2023
Guaranteed Encapsulation of Targets with Unknown Motion by a Minimalist Robotic Swarm
We present a decentralized control algorithm for a robotic swarm given t...
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12/18/2022
Decentralized Control of Minimalistic Robotic Swarms For Guaranteed Target Encapsulation
We propose a decentralized control algorithm for a minimalistic robotic ...
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07/06/2022
Physically-Feasible Repair of Reactive, Linear Temporal Logic-based, High-Level Tasks
A typical approach to creating complex robot behaviors is to compose ato...
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04/18/2022
Automatic Encoding and Repair of Reactive High-Level Tasks with Learned Abstract Representations
We present a framework that, given a set of skills a robot can perform, ...
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04/11/2022
Automated Task Updates of Temporal Logic Specifications for Heterogeneous Robots
Given a heterogeneous group of robots executing a complex task represent...
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02/28/2022
Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications
Autonomous robots typically incorporate complex sensors in their decisio...
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06/17/2021
Synthesizing Modular Manipulators For Tasks With Time, Obstacle, And Torque Constraints
Modular robots can be tailored to achieve specific tasks and rearranged ...
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05/13/2021
Counterexample-Guided Repair for Symbolic-Geometric Action Abstractions
Integrated Task and Motion Planning (TMP) provides a promising class of ...
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04/21/2021
Learning and Planning for Temporally Extended Tasks in Unknown Environments
We propose a novel planning technique for satisfying tasks specified in ...
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10/31/2020
Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks
We propose a new specification language and control synthesis technique ...
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06/30/2020
Formalizing and Guaranteeing* Human-Robot Interaction
Robot capabilities are maturing across domains, from self-driving cars, ...
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01/03/2019
The Challenges in Specifying and Explaining Synthesized Implementations of Reactive Systems
In formal synthesis of reactive systems an implementation of a system is...
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12/06/2017
Accomplishing High-Level Tasks with Modular Robots
The advantage of modular self-reconfigurable robot systems is their flex...
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10/05/2017
Perception-Informed Autonomous Environment Augmentation With Modular Robots
We present hardware, perception, and planning tools that enable a modula...
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09/04/2014