{"id":"https://openalex.org/W3097154153","doi":"https://doi.org/10.1109/lra.2021.3064220","title":"Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks","display_name":"Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks","publication_year":2021,"publication_date":"2021-03-08","ids":{"openalex":"https://openalex.org/W3097154153","doi":"https://doi.org/10.1109/lra.2021.3064220","mag":"3097154153"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3064220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3064220","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2011.00370","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"David Gundana","orcid":"https://orcid.org/0000-0001-6873-4842"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Gundana","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":"https://orcid.org/0000-0001-6873-4842","affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hadas Kress-Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-7754-1011","affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":5.3562,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.96133027,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"3687","last_page":"3694"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9567999839782715,"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":0.9567999839782715,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.005499999970197678,"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/T10904","display_name":"Embedded Systems Design Techniques","score":0.00430000014603138,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/temporal-logic","display_name":"Temporal logic","score":0.6902999877929688},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6579999923706055},{"id":"https://openalex.org/keywords/automaton","display_name":"Automaton","score":0.5892000198364258},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.546999990940094},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.5138999819755554},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.49810001254081726},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4918999969959259},{"id":"https://openalex.org/keywords/specification-language","display_name":"Specification language","score":0.39070001244544983},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3831000030040741}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8112999796867371},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.6902999877929688},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6579999923706055},{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.5892000198364258},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.546999990940094},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.5138999819755554},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.49810001254081726},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4918999969959259},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.4587000012397766},{"id":"https://openalex.org/C201677973","wikidata":"https://www.wikidata.org/wiki/Q1209840","display_name":"Specification language","level":2,"score":0.39070001244544983},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3831000030040741},{"id":"https://openalex.org/C2776350369","wikidata":"https://www.wikidata.org/wiki/Q843479","display_name":"Control logic","level":2,"score":0.3813999891281128},{"id":"https://openalex.org/C162670838","wikidata":"https://www.wikidata.org/wiki/Q6057295","display_name":"Interval temporal logic","level":3,"score":0.3734999895095825},{"id":"https://openalex.org/C131017901","wikidata":"https://www.wikidata.org/wiki/Q170451","display_name":"Logic gate","level":2,"score":0.35679998993873596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3391000032424927},{"id":"https://openalex.org/C187075797","wikidata":"https://www.wikidata.org/wiki/Q173245","display_name":"Sequential logic","level":3,"score":0.3075000047683716},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.30649998784065247},{"id":"https://openalex.org/C157922185","wikidata":"https://www.wikidata.org/wiki/Q173198","display_name":"Logic synthesis","level":3,"score":0.3061999976634979},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3005000054836273},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.29109999537467957},{"id":"https://openalex.org/C128838566","wikidata":"https://www.wikidata.org/wiki/Q275603","display_name":"Logic programming","level":2,"score":0.27959999442100525},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C116253237","wikidata":"https://www.wikidata.org/wiki/Q1437424","display_name":"Formal specification","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.25519999861717224},{"id":"https://openalex.org/C3018134525","wikidata":"https://www.wikidata.org/wiki/Q2501541","display_name":"Control signal","level":3,"score":0.250900000333786},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.25049999356269836}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3064220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3064220","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2011.00370","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.00370","pdf_url":"https://arxiv.org/pdf/2011.00370","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2011.00370","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.00370","pdf_url":"https://arxiv.org/pdf/2011.00370","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1533557569","https://openalex.org/W1547304883","https://openalex.org/W1972149633","https://openalex.org/W1975134293","https://openalex.org/W1989495662","https://openalex.org/W2021422577","https://openalex.org/W2049399166","https://openalex.org/W2092884371","https://openalex.org/W2095274657","https://openalex.org/W2115309705","https://openalex.org/W2130786035","https://openalex.org/W2522043470","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2784743256","https://openalex.org/W2841721725","https://openalex.org/W2945541231","https://openalex.org/W2964188981","https://openalex.org/W2968608911","https://openalex.org/W3045538479","https://openalex.org/W6809328344"],"related_works":[],"abstract_inverted_index":{"We":[0,87],"propose":[1],"a":[2],"new":[3],"specification":[4,68],"language":[5],"and":[6,12,21,34,57,96],"control":[7,48,58],"synthesis":[8,49],"technique":[9],"for":[10],"single":[11],"multi-robot":[13,100],"high-level":[14],"tasks;":[15],"these":[16],"tasks":[17,39,54],"include":[18],"timing":[19],"constraints":[20],"reaction":[22],"to":[23,37,43,51,61,76],"environmental":[24],"events.":[25,46],"Specifically,":[26],"we":[27],"define":[28],"Event-based":[29,52,81],"Signal":[30],"Temporal":[31],"Logic":[32],"(STL)":[33],"use":[35],"it":[36],"encode":[38],"that":[40,65],"are":[41],"reactive":[42],"uncontrolled":[44],"environment":[45],"Our":[47,71],"approach":[50],"STL":[53,82],"combines":[55],"automata":[56],"barrier":[59],"functions":[60],"produce":[62],"robot":[63],"behaviors":[64],"satisfy":[66],"the":[67,77,89,92],"when":[69],"possible.":[70],"method":[72],"automatically":[73],"provides":[74],"feedback":[75],"user":[78],"if":[79],"an":[80],"task":[83],"cannot":[84],"be":[85],"achieved.":[86],"demonstrate":[88],"effectiveness":[90],"of":[91,99],"framework":[93],"through":[94],"simulations":[95],"physical":[97],"demonstrations":[98],"tasks.":[101]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-11-09T00:00:00"}
