{"id":"https://openalex.org/W4314946898","doi":"https://doi.org/10.1109/cdc51059.2022.9993288","title":"Planning for Modular Aerial Robotic Tools with Temporal Logic Constraints","display_name":"Planning for Modular Aerial Robotic Tools with Temporal Logic Constraints","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4314946898","doi":"https://doi.org/10.1109/cdc51059.2022.9993288"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9993288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9993288","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5001903602","display_name":"Gustavo A. Cardona","orcid":"https://orcid.org/0000-0002-4257-9415"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gustavo A. Cardona","raw_affiliation_strings":["Autonomous and Intelligent Robotics Laboratory –AIRLab– at Lehigh University,Bethlehem,PA,USA,18015"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory –AIRLab– at Lehigh University,Bethlehem,PA,USA,18015","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023803863","display_name":"David Salda\u00f1a","orcid":"https://orcid.org/0000-0003-2442-4257"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Saldana","raw_affiliation_strings":["Autonomous and Intelligent Robotics Laboratory –AIRLab– at Lehigh University,Bethlehem,PA,USA,18015"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory –AIRLab– at Lehigh University,Bethlehem,PA,USA,18015","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086654963","display_name":"Cristian-Ioan Vasile","orcid":"https://orcid.org/0000-0002-1132-1462"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cristian-Ioan Vasile","raw_affiliation_strings":["Autonomous and Intelligent Robotics Laboratory –AIRLab– at Lehigh University,Bethlehem,PA,USA,18015"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory –AIRLab– at Lehigh University,Bethlehem,PA,USA,18015","institution_ids":["https://openalex.org/I186143895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I186143895"],"apc_list":null,"apc_paid":null,"fwci":7.7269,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.98496113,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2878","last_page":"2883"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9990000128746033,"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/T12288","display_name":"Optimization and Search Problems","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/modular-design","display_name":"Modular design","score":0.808653712272644},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7144496440887451},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.4829508662223816},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39965513348579407},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3592291474342346},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.33329933881759644},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.31712716817855835},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1781926453113556}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.808653712272644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7144496440887451},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.4829508662223816},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39965513348579407},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3592291474342346},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.33329933881759644},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.31712716817855835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1781926453113556}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9993288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9993288","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W631244818","https://openalex.org/W1490137407","https://openalex.org/W1935692274","https://openalex.org/W2039881247","https://openalex.org/W2097622845","https://openalex.org/W2110579257","https://openalex.org/W2145510175","https://openalex.org/W2151958719","https://openalex.org/W2155878025","https://openalex.org/W2163883769","https://openalex.org/W2408862423","https://openalex.org/W2775110590","https://openalex.org/W2804655496","https://openalex.org/W2892035765","https://openalex.org/W2899318310","https://openalex.org/W2963148304","https://openalex.org/W3101375348","https://openalex.org/W3131217665","https://openalex.org/W3209876736","https://openalex.org/W4205533104","https://openalex.org/W4210600503","https://openalex.org/W6755322444","https://openalex.org/W6806035326"],"related_works":["https://openalex.org/W2378076731","https://openalex.org/W4286888643","https://openalex.org/W3210795196","https://openalex.org/W2088988140","https://openalex.org/W2803103875","https://openalex.org/W2103019253","https://openalex.org/W2951529875","https://openalex.org/W2391453316","https://openalex.org/W2297768894","https://openalex.org/W1988064119"],"abstract_inverted_index":{"Modular":[0],"robots":[1,55,158],"are":[2],"highly":[3],"versatile":[4],"due":[5],"to":[6,9,70,94,103],"their":[7,13],"ability":[8,17],"reconfigure":[10],"and":[11,32,62,68,78,100,110,133,173],"change":[12],"mechanical":[14],"properties.":[15],"This":[16],"makes":[18],"them":[19],"optimal":[20],"for":[21,53,98,111,128,156],"scenarios":[22],"that":[23,73,145,159],"require":[24],"different":[25],"types":[26],"of":[27,41],"tasks.":[28,80],"However,":[29],"task":[30,106],"allocation":[31],"cooperation":[33],"become":[34],"a":[35,50,105,119,131,139],"combinatorial":[36],"problem":[37,117],"when":[38,109],"the":[39,92,116,136,166],"number":[40],"modules":[42],"increases.":[43],"To":[44],"tackle":[45],"this":[46],"problem,":[47],"we":[48,143,164],"propose":[49],"high-level":[51],"planner":[52],"reconfigurable":[54],"with":[56,170],"heterogeneous":[57],"capabilities,":[58],"e.g.,":[59],"aerial":[60],"motion":[61,134],"tool":[63],"operation.":[64],"Modules":[65],"can":[66,149],"attach":[67],"detach":[69],"create":[71],"configurations":[72,148],"manipulate":[74],"tools":[75],"satisfying":[76,130],"temporal":[77],"logic-constrained":[79],"The":[81],"mission":[82,161],"is":[83],"specified":[84],"using":[85,118],"Metric":[86],"Temporal":[87],"Logic":[88],"(MTL)":[89],"which":[90],"offers":[91],"capacity":[93],"not":[95,146],"only":[96],"account":[97],"where":[99],"who":[101],"needs":[102],"satisfy":[104,150],"but":[107],"also":[108],"how":[112],"long.":[113],"We":[114,153],"model":[115],"Mixed":[120],"Integer":[121],"Linear":[122],"Problem":[123],"(MILP)":[124],"approach,":[125],"capturing":[126],"cost":[127],"reconfiguration,":[129],"task,":[132],"in":[135,138,168,175],"environment":[137],"specific":[140],"configuration.":[141],"Additionally,":[142],"consider":[144],"all":[147],"every":[151],"task.":[152],"find":[154],"trajectories":[155],"modular":[157],"guarantee":[160],"satisfaction.":[162],"Finally,":[163],"show":[165],"performance":[167],"simulations":[169],"multiple":[171],"tasks":[172],"requirements":[174],"an":[176],"environment.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}