{"id":"https://openalex.org/W4405788171","doi":"https://doi.org/10.1109/iros58592.2024.10802177","title":"Motion Planning for Automata-based Objectives using Efficient Gradient-based Methods","display_name":"Motion Planning for Automata-based Objectives using Efficient Gradient-based Methods","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405788171","doi":"https://doi.org/10.1109/iros58592.2024.10802177"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802177","doi":"https://doi.org/10.1109/iros58592.2024.10802177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802177","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2410.11156","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010081957","display_name":"Anand Balakrishnan","orcid":"https://orcid.org/0000-0002-8781-4810","observed_orcids":["https://orcid.org/0000-0002-8781-4810"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anand Balakrishnan","raw_affiliation_strings":["University of Southern California,Los Angeles,California,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Los Angeles,California,USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114336086","display_name":"Merve Atasever","orcid":"https://orcid.org/0000-0001-9743-1488","observed_orcids":["https://orcid.org/0000-0001-9743-1488"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Merve Atasever","raw_affiliation_strings":["University of Southern California,Los Angeles,California,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Los Angeles,California,USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057473400","display_name":"Jyotirmoy V. Deshmukh","orcid":"https://orcid.org/0000-0003-4683-5540","observed_orcids":["https://orcid.org/0000-0003-4683-5540","https://orcid.org/0000-0002-8815-464X"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jyotirmoy V. Deshmukh","raw_affiliation_strings":["University of Southern California,Los Angeles,California,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Los Angeles,California,USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33150728,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13734","last_page":"13740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9872999787330627,"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":0.9872999787330627,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.009999999776482582,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.0005000000237487257,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"motion planning","score":0.9879999756813049},{"id":"https://openalex.org/keywords/symbolic-automata","display_name":"symbolic automata","score":0.8289999961853027},{"id":"https://openalex.org/keywords/signal-temporal-logic","display_name":"signal temporal logic","score":0.8690000176429749},{"id":"https://openalex.org/keywords/gradient-based-optimization","display_name":"gradient-based optimization","score":0.7860000133514404},{"id":"https://openalex.org/keywords/automatic-differentiation","display_name":"automatic differentiation","score":0.9700000286102295},{"id":"https://openalex.org/keywords/temporal-logic-specifications","display_name":"temporal logic specifications","score":0.48100000619888306},{"id":"https://openalex.org/keywords/scalability","display_name":"scalability","score":0.38199999928474426},{"id":"https://openalex.org/keywords/matrix-operators","display_name":"matrix operators","score":0.4659999907016754}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6686210632324219},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6112310290336609},{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.5756059288978577},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.536844789981842},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31364595890045166},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2004939317703247}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros58592.2024.10802177","doi":"https://doi.org/10.1109/iros58592.2024.10802177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802177","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2410.11156","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.11156","pdf_url":"https://arxiv.org/pdf/2410.11156","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2410.11156","doi":"https://doi.org/10.48550/arxiv.2410.11156","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2410.11156","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2410.11156","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.11156","pdf_url":"https://arxiv.org/pdf/2410.11156","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"id":"https://metadata.un.org/sdg/13","score":0.5099999904632568,"display_name":"Climate action"},{"id":"https://metadata.un.org/sdg/11","score":0.4300000071525574,"display_name":"Sustainable cities and communities"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G1889334499","display_name":"FMitF: A Novel Framework for Learning Formal Abstractions and Causal Relations from Temporal Behaviors","funder_award_id":"1837131","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4185534415","display_name":"CAREER: A Framework for Logic-based Requirements to guide Safe Deep Learning for Autonomous Mobile Systems","funder_award_id":"2048094","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5876574054","display_name":"CPS: Small: Uncertainty-aware Framework for Specifying, Designing and Verifying Cyber-Physical Systems","funder_award_id":"1932620","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6708180324","display_name":"Collaborative Research: CPS: Medium: Spatio-Temporal Logics for Analyzing and Querying Perception Systems","funder_award_id":"2039087","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405788171.pdf","grobid_xml":"https://content.openalex.org/works/W4405788171.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W616288317","https://openalex.org/W1424654272","https://openalex.org/W1533557569","https://openalex.org/W1547304883","https://openalex.org/W1643571618","https://openalex.org/W1970269621","https://openalex.org/W2004796166","https://openalex.org/W2023808162","https://openalex.org/W2026629052","https://openalex.org/W2049399166","https://openalex.org/W2064572756","https://openalex.org/W2071797744","https://openalex.org/W2091682553","https://openalex.org/W2092884371","https://openalex.org/W2101804404","https://openalex.org/W2117927826","https://openalex.org/W2151958719","https://openalex.org/W2254640530","https://openalex.org/W2381901500","https://openalex.org/W2621540998","https://openalex.org/W2676873924","https://openalex.org/W2785700716","https://openalex.org/W2787690666","https://openalex.org/W2905277694","https://openalex.org/W2909669836","https://openalex.org/W2941720440","https://openalex.org/W2951696432","https://openalex.org/W2964247868","https://openalex.org/W2975657856","https://openalex.org/W2977713273","https://openalex.org/W3010924044","https://openalex.org/W3045538479","https://openalex.org/W3107452320","https://openalex.org/W3164776375","https://openalex.org/W4211176451","https://openalex.org/W4229029576","https://openalex.org/W4319787917","https://openalex.org/W6633971062","https://openalex.org/W6638908295","https://openalex.org/W6679317074","https://openalex.org/W6756195904","https://openalex.org/W6766978945","https://openalex.org/W6776444479"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0,116],"recent":[1],"years,":[2],"there":[3],"has":[4],"been":[5],"increasing":[6],"interest":[7],"in":[8,32,127,181],"using":[9],"formal":[10],"methods-based":[11],"techniques":[12],"to":[13,100,149,168],"safely":[14],"achieve":[15],"temporal":[16,101],"tasks,":[17],"such":[18,35,125],"as":[19,36,74,143],"timed":[20],"sequence":[21],"of":[22,63,82,89,113,124,130,156],"goals,":[23],"or":[24,60,78],"patrolling":[25],"objectives.":[26,133],"Such":[27,51],"tasks":[28,107,126],"are":[29],"often":[30],"expressed":[31,142],"real-time":[33],"logics":[34],"Signal":[37],"Temporal":[38],"Logic":[39],"(STL),":[40],"whereby,":[41],"the":[42,57,64,69,83,110,114,128,154,166,177,182],"logical":[43],"specification":[44],"is":[45,92],"encoded":[46,73,180],"into":[47,79],"an":[48],"optimization":[49],"problem.":[50],"approaches":[52],"usually":[53],"involve":[54],"optimizing":[55],"over":[56,66],"quantitative":[58,122],"semantics,":[59],"robustness":[61,84],"degree,":[62],"logic":[65],"bounded":[67],"horizons:":[68],"semantics":[70],"can":[71,140],"be":[72,141],"mixed-integer":[75],"linear":[76],"constraints":[77],"smooth":[80],"approximations":[81],"degree.":[85],"A":[86],"major":[87],"limitation":[88],"this":[90,117,163],"approach":[91],"that":[93,137,146],"it":[94],"faces":[95],"scalability":[96],"challenges":[97],"with":[98],"respect":[99],"complexity:":[102],"for":[103,153],"example,":[104],"encoding":[105],"long-term":[106],"requires":[108],"storing":[109],"entire":[111],"history":[112],"system.":[115],"paper,":[118],"we":[119,135],"present":[120],"a":[121],"generalization":[123],"form":[129],"symbolic":[131,138],"automata":[132,139],"Specifically,":[134],"show":[136,161],"matrix":[144],"operators":[145],"lend":[147],"themselves":[148],"automatic":[150],"differentiation,":[151],"allowing":[152],"use":[155],"off-the-shelf":[157],"gradient-based":[158],"optimizers.":[159],"We":[160],"how":[162],"helps":[164],"solve":[165],"need":[167],"store":[169],"arbitrarily":[170],"long":[171],"system":[172],"trajectories,":[173],"while":[174],"efficiently":[175],"leveraging":[176],"task":[178],"structure":[179],"automaton.":[183]},"counts_by_year":[],"updated_date":"2026-10-12T09:40:04.860316","created_date":"2025-10-10T00:00:00"}