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Once and For All
It has long been known that past-time operators add no expressive power to linear temporal logics. In this paper, we consider the extension of branching temporal logics with past-time operators. Two possible views regarding the nature of past in a branching-time model induce two different such extensions. In the first view, past is branching and each ...
Iterative Temporal Motion Planning for Hybrid Systems in Partially Unknown Environments
This paper considers the problem of motion planning for a hybrid robotic system with complex and nonlinear dynamics in a partially unknown environment given a temporal logic specification. We employ a multi-layered synergistic framework that can deal with general robot dynamics and combine it with an iterative planning strategy. Our work allows us to ...