{"id":"https://openalex.org/W4413917929","doi":"https://doi.org/10.1109/icra55743.2025.11128784","title":"Optimization-Based Task and Motion Planning Under Signal Temporal Logic Specifications Using Logic Network Flow","display_name":"Optimization-Based Task and Motion Planning Under Signal Temporal Logic Specifications Using Logic Network Flow","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917929","doi":"https://doi.org/10.1109/icra55743.2025.11128784"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","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/A5027410770","display_name":"Xuan Lin","orcid":"https://orcid.org/0000-0001-7216-1821"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuan Lin","raw_affiliation_strings":["George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111161682","display_name":"Jiming Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiming Ren","raw_affiliation_strings":["George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010552433","display_name":"Samuel Coogan","orcid":"https://orcid.org/0000-0003-0495-1535"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel Coogan","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023643969","display_name":"Ye Zhao","orcid":"https://orcid.org/0000-0001-6402-5416"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ye Zhao","raw_affiliation_strings":["George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12565","last_page":"12571"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.961899995803833,"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"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.961899995803833,"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"}},{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9326000213623047,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9150000214576721,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7135534286499023},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6060918569564819},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.5520129203796387},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4939301609992981},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.4517934322357178},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44112440943717957},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.41667309403419495},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33088281750679016},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.20575198531150818},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1688869297504425},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.16385358572006226},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14325067400932312},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12171685695648193}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7135534286499023},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6060918569564819},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.5520129203796387},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4939301609992981},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.4517934322357178},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44112440943717957},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.41667309403419495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33088281750679016},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.20575198531150818},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1688869297504425},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.16385358572006226},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14325067400932312},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12171685695648193},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","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":28,"referenced_works":["https://openalex.org/W11021030","https://openalex.org/W1533557569","https://openalex.org/W1563854815","https://openalex.org/W1975442866","https://openalex.org/W2070311462","https://openalex.org/W2079995373","https://openalex.org/W2091682553","https://openalex.org/W2144588269","https://openalex.org/W2792781634","https://openalex.org/W2905277694","https://openalex.org/W2940189798","https://openalex.org/W2963309123","https://openalex.org/W2964257036","https://openalex.org/W3011209257","https://openalex.org/W3034174753","https://openalex.org/W3046650501","https://openalex.org/W3205467518","https://openalex.org/W3207251292","https://openalex.org/W3217403887","https://openalex.org/W4210600503","https://openalex.org/W4229029576","https://openalex.org/W4239519089","https://openalex.org/W4375852001","https://openalex.org/W4385756627","https://openalex.org/W4401416934","https://openalex.org/W4403123342","https://openalex.org/W4405786505","https://openalex.org/W4411599636"],"related_works":["https://openalex.org/W2124110813","https://openalex.org/W2521108391","https://openalex.org/W1532447905","https://openalex.org/W2031188261","https://openalex.org/W2763487042","https://openalex.org/W3021103820","https://openalex.org/W4285022830","https://openalex.org/W4232446061","https://openalex.org/W2077520193","https://openalex.org/W3035590440"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"optimization-based":[4],"task":[5],"and":[6,121],"motion":[7,86],"planning":[8,87,107],"framework,":[9,28],"named":[10],"\u201cLogic":[11],"Network":[12,60,63],"Flow\u201d,":[13],"to":[14,71],"integrate":[15],"signal":[16],"temporal":[17,29],"logic":[18],"(STL)":[19],"specifications":[20],"into":[21],"efficient":[22],"mixed-binary":[23],"linear":[24],"programmings.":[25],"In":[26],"this":[27,135],"predicates":[30],"are":[31],"encoded":[32],"as":[33,45,50],"polyhedron":[34],"constraints":[35,46],"on":[36,83],"each":[37,145],"edge":[38],"of":[39,44,102,128,140],"the":[40,48,52,110,131,138],"network":[41],"flow,":[42],"instead":[43],"between":[47],"nodes":[49,129],"in":[51,100],"traditional":[53],"Logic":[54,62,72,97],"Tree":[55,98],"formulation.":[56],"Synthesized":[57],"with":[58],"Dynamic":[59],"Flows,":[61],"Flows":[64],"render":[65],"a":[66],"tighter":[67],"convex":[68],"relaxation":[69],"compared":[70],"Trees":[73],"derived":[74],"from":[75],"these":[76],"STL":[77],"specifications.":[78],"Our":[79],"formulation":[80,95,99],"is":[81],"evaluated":[82],"several":[84,106],"multi-robot":[85],"case":[88],"studies.":[89],"Empirical":[90],"results":[91],"demonstrate":[92],"that":[93],"our":[94,115],"outperforms":[96],"terms":[101],"computation":[103],"time":[104],"for":[105,144],"problems.":[108],"As":[109],"problem":[111],"size":[112],"scales":[113],"up,":[114],"method":[116],"still":[117],"discovers":[118],"better":[119],"lower":[120],"upper":[122],"bounds":[123],"by":[124],"exploring":[125,148],"fewer":[126],"number":[127],"during":[130],"branch-and-bound":[132],"process,":[133],"although":[134],"comes":[136],"at":[137],"cost":[139],"increased":[141],"computational":[142],"load":[143],"node":[146],"when":[147],"branches.":[149]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
