{"id":"https://openalex.org/W4391020161","doi":"https://doi.org/10.1109/cdc49753.2023.10383968","title":"Resilient Temporal Logic Planning in the Presence of Robot Failures","display_name":"Resilient Temporal Logic Planning in the Presence of Robot Failures","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4391020161","doi":"https://doi.org/10.1109/cdc49753.2023.10383968"},"language":"en","primary_location":{"id":"doi:10.1109/cdc49753.2023.10383968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10383968","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061121073","display_name":"Samarth Kalluraya","orcid":"https://orcid.org/0000-0001-9942-7562"},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samarth Kalluraya","raw_affiliation_strings":["Washington University at St. Louis,Department of Electrical and Systems Engineering,St. Louis,MO,USA,63130"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University at St. Louis,Department of Electrical and Systems Engineering,St. Louis,MO,USA,63130","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029243115","display_name":"George J. Pappas","orcid":"https://orcid.org/0000-0001-9081-0637"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George J. Pappas","raw_affiliation_strings":["University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014874021","display_name":"Yiannis Kantaros","orcid":"https://orcid.org/0000-0002-0257-7378"},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiannis Kantaros","raw_affiliation_strings":["Washington University at St. Louis,Department of Electrical and Systems Engineering,St. Louis,MO,USA,63130"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University at St. Louis,Department of Electrical and Systems Engineering,St. Louis,MO,USA,63130","institution_ids":["https://openalex.org/I204465549"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9647,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.72294974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7520","last_page":"7526"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7371374368667603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6879435181617737},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.6805604696273804},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6016063690185547},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5896674394607544},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5800851583480835},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5052188038825989},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.4816238284111023},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45806461572647095},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4383618235588074},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.41798681020736694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3638322949409485},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34846240282058716},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.24401769042015076},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1846560537815094},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13337349891662598},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11348846554756165}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7371374368667603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6879435181617737},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.6805604696273804},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6016063690185547},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5896674394607544},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5800851583480835},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5052188038825989},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.4816238284111023},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45806461572647095},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4383618235588074},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41798681020736694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3638322949409485},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34846240282058716},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.24401769042015076},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1846560537815094},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13337349891662598},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11348846554756165},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc49753.2023.10383968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10383968","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6958661748","display_name":null,"funder_award_id":"DCIST CRA W911NF-17-2-0181","funder_id":"https://openalex.org/F4320308476","funder_display_name":"Association of Research Libraries"}],"funders":[{"id":"https://openalex.org/F4320308476","display_name":"Association of Research Libraries","ror":"https://ror.org/053mpbz30"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1498432697","https://openalex.org/W2064572756","https://openalex.org/W2073548775","https://openalex.org/W2074802943","https://openalex.org/W2089003125","https://openalex.org/W2150335178","https://openalex.org/W2381901500","https://openalex.org/W2418817242","https://openalex.org/W2468777797","https://openalex.org/W2789239344","https://openalex.org/W2963352580","https://openalex.org/W3011250830","https://openalex.org/W3021964239","https://openalex.org/W3090071260","https://openalex.org/W3091670144","https://openalex.org/W3119321206","https://openalex.org/W3133693890","https://openalex.org/W3136316167","https://openalex.org/W3189280709","https://openalex.org/W4210258883","https://openalex.org/W4286306573","https://openalex.org/W4297537739","https://openalex.org/W4305013680","https://openalex.org/W4312453053","https://openalex.org/W4382936112","https://openalex.org/W4383172005","https://openalex.org/W4391020161"],"related_works":["https://openalex.org/W4381746183","https://openalex.org/W2124110813","https://openalex.org/W2165574943","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W3021103820","https://openalex.org/W2763487042","https://openalex.org/W2521108391","https://openalex.org/W1532447905","https://openalex.org/W2161428574"],"abstract_inverted_index":{"Several":[0],"task":[1],"and":[2,160,166],"motion":[3,155],"planning":[4,82],"algorithms":[5],"have":[6],"been":[7],"proposed":[8,121,170],"recently":[9],"to":[10,38,52,99,128,140],"design":[11],"paths":[12,34,124],"for":[13,84],"mobile":[14],"robot":[15,41,132],"teams":[16,85],"with":[17,89,97],"collaborative":[18,90],"high-level":[19],"missions":[20],"specified":[21],"using":[22],"formal":[23],"languages,":[24],"such":[25],"as":[26],"Linear":[27],"Temporal":[28],"Logic":[29],"(LTL).":[30],"However,":[31],"the":[32,103,114,141,152,164,169],"designed":[33],"often":[35],"lack":[36],"reactivity":[37],"failures":[39,130],"of":[40,86,107,131,168],"capabilities":[42,101],"(e.g.,":[43,55],"sensing,":[44],"mobility,":[45],"or":[46,58],"manipulation)":[47],"that":[48,125],"can":[49,126],"occur":[50],"due":[51],"unanticipated":[53],"events":[54],"human":[56],"intervention":[57],"system":[59],"malfunctioning)":[60],"which":[61],"in":[62,73,113,116],"turn":[63],"may":[64],"compromise":[65],"mission":[66,81,104],"performance.":[67],"To":[68],"address":[69],"this":[70,74],"novel":[71],"challenge,":[72],"paper,":[75],"we":[76],"propose":[77],"a":[78,117],"new":[79],"resilient":[80],"algorithm":[83],"heterogeneous":[87,96],"robots":[88,94,142],"LTL":[91],"missions.":[92],"The":[93,120],"are":[95],"respect":[98],"their":[100,145],"while":[102,149],"requires":[105],"applications":[106],"these":[108],"skills":[109,148],"at":[110],"certain":[111],"areas":[112],"environment":[115],"temporal/logical":[118],"order.":[119],"method":[122],"designs":[123],"adapt":[127],"unexpected":[129],"capabilities.":[133],"This":[134],"is":[135],"accomplished":[136],"by":[137],"re-allocating":[138],"sub-tasks":[139],"based":[143],"on":[144],"currently":[146],"functioning":[147],"minimally":[150],"disrupting":[151],"existing":[153],"team":[154],"plans.":[156],"We":[157],"provide":[158],"experiments":[159],"theoretical":[161],"guarantees":[162],"demonstrating":[163],"efficiency":[165],"resiliency":[167],"algorithm.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
