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- Alphan Ulusoy, Michael Marrazzo, Calin Belta
- Robotics: Science and Systems
- 2013

—We present a control strategy for an autonomous vehicle that is required to satisfy a rich mission specification over service requests occurring at the regions of a partitioned environment. The overall mission specification consists of a temporal logic statement over a set of static, a priori known requests, and a servicing priority order over a set of… (More)

- Alphan Ulusoy, Stephen L. Smith, Calin Belta
- DARS
- 2012

In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated deviation values that capture the non-determinism in the traveling times of the robot during its deployment. The mission is… (More)

- Alphan Ulusoy, Stephen L. Smith, Xu Chu Ding, Calin Belta, Daniela Rus
- I. J. Robotics Res.
- 2013

In this paper we present a method for automatic planning of optimal paths for a group of robots that satisfy a common high-level mission specification. The motion of each robot is modeled as a weighted transition system, and the mission is given as a linear temporal logic (LTL) formula over a set of propositions satisfied at the regions of the environment.… (More)

- Alphan Ulusoy, Stephen L. Smith, Xu Chu Ding, Calin Belta
- 2012 IEEE International Conference on Robotics…
- 2012

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system, and the mission is given as a Linear Temporal Logic (LTL) formula over a set of propositions satisfied by the… (More)

— In this paper, we present a method for optimal control synthesis of a plant that interacts with a set of agents in a graph-like environment. The control specification is given as a temporal logic statement about some properties that hold at the vertices of the environment. The plant is assumed to be deterministic, while the agents are probabilistic Markov… (More)

- Tichakorn Wongpiromsarn, Alphan Ulusoy, Calin Belta, Emilio Frazzoli, Daniela Rus
- 2013 IEEE International Conference on Robotics…
- 2013

We consider automatic synthesis of control policies for non-independent, heterogeneous multi-agent systems with the objective of maximizing the probability of satisfying a given specification. The specification is expressed as a formula in linear temporal logic. The agents are modeled by Markov decision processes with a common set of actions. These actions,… (More)

- Alphan Ulusoy, Stephen L. Smith, Xu Chu Ding, Calin Belta, Daniela Rus
- 2011 IEEE/RSJ International Conference on…
- 2011

In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The mission is given as a Linear Temporal Logic formula. In addition, an optimizing proposition must repeatedly be… (More)

- Tichakorn Wongpiromsarn, Alphan Ulusoy, Calin Belta, Emilio Frazzoli, Daniela Rus
- 2012 IEEE/RSJ International Conference on…
- 2012

We consider the synthesis of control policies from temporal logic specifications for robots that interact with multiple dynamic environment agents. Each environment agent is modeled by a Markov chain whereas the robot is modeled by a finite transition system (in the deterministic case) or Markov decision process (in the stochastic case). Existing results in… (More)

- Alphan Ulusoy, Tichakorn Wongpiromsarn, Calin Belta
- I. J. Robotics Res.
- 2014

In this paper, we consider automatic computation of optimal control strategies for a robot interacting with a set of independent uncontrollable agents in a graph-like environment. The mission specification is given as a syntactically co-safe Linear Temporal Logic formula over some properties that hold at the vertices of the environment. The robot is assumed… (More)

- Alphan Ulusoy, Michael Marrazzo, Konstantinos Oikonomopoulos, Ryan Hunter, Calin Belta
- 2013 IEEE International Conference on Robotics…
- 2013

We present an experimental setup for automatic deployment of a quadrotor in an environment with known topology and nondeterministically changing properties. The missions are specified as rich, temporal logic statements about the satisfaction of the properties. The main objective is to be able to synthesize, test, and evaluate control policies for complex… (More)