{"id":"https://openalex.org/W7147069036","doi":"https://doi.org/10.48550/arxiv.2603.27583","title":"LLM-Enabled Low-Altitude UAV Natural Language Navigation via Signal Temporal Logic Specification Translation and Repair","display_name":"LLM-Enabled Low-Altitude UAV Natural Language Navigation via Signal Temporal Logic Specification Translation and Repair","publication_year":2026,"publication_date":"2026-03-29","ids":{"openalex":"https://openalex.org/W7147069036","doi":"https://doi.org/10.48550/arxiv.2603.27583"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.27583","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27583","pdf_url":null,"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.27583","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102683343","display_name":"Yuqi Ping","orcid":"https://orcid.org/0009-0001-0795-1066"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ping, Yuqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114173595","display_name":"Huahao Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Huahao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132713089","display_name":"Tianhao Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Tianhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005427216","display_name":"Longyu Zhou","orcid":"https://orcid.org/0000-0002-7702-3193"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Longyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132564518","display_name":"Guangyu Lei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lei, Guangyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132562183","display_name":"Xinglin Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xinglin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132568363","display_name":"Junwei Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Junwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132706904","display_name":"Jieyu Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jieyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132644642","display_name":"Tingting Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Tingting","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.3264999985694885,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11489","display_name":"Air Traffic Management and Optimization","score":0.3264999985694885,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.22200000286102295,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.1031000018119812,"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/executable","display_name":"Executable","score":0.7056999802589417},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.5583000183105469},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.553600013256073},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.5005000233650208},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4564000070095062},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.448199987411499},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.42640000581741333},{"id":"https://openalex.org/keywords/specification-language","display_name":"Specification language","score":0.39320001006126404}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8205000162124634},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.7056999802589417},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.5583000183105469},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.553600013256073},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.5005000233650208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48399999737739563},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4564000070095062},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.448199987411499},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.43459999561309814},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.42640000581741333},{"id":"https://openalex.org/C201677973","wikidata":"https://www.wikidata.org/wiki/Q1209840","display_name":"Specification language","level":2,"score":0.39320001006126404},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.37070000171661377},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3646000027656555},{"id":"https://openalex.org/C128838566","wikidata":"https://www.wikidata.org/wiki/Q275603","display_name":"Logic programming","level":2,"score":0.35409998893737793},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3361999988555908},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.33169999718666077},{"id":"https://openalex.org/C116253237","wikidata":"https://www.wikidata.org/wiki/Q1437424","display_name":"Formal specification","level":2,"score":0.3140999972820282},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2791999876499176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.27230000495910645},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C102993220","wikidata":"https://www.wikidata.org/wiki/Q387196","display_name":"Description logic","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C198008173","wikidata":"https://www.wikidata.org/wiki/Q1040040","display_name":"Computation tree logic","level":3,"score":0.2567000091075897},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.25130000710487366},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.27583","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27583","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.27583","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27583","pdf_url":null,"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6811574697494507}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Natural":[0],"language":[1,94],"(NL)":[2],"navigation":[3,173],"for":[4,16,25],"low-altitude":[5,17],"unmanned":[6],"aerial":[7,18],"vehicles":[8],"(UAVs)":[9],"offers":[10],"an":[11,22],"intelligent":[12],"and":[13,71,101,111,152,170],"convenient":[14],"solution":[15],"services":[19],"by":[20,119],"enabling":[21,167],"intuitive":[23],"interface":[24],"non-expert":[26],"operators.":[27],"However,":[28],"deploying":[29],"this":[30,54],"capability":[31],"in":[32,174],"urban":[33],"environments":[34],"necessitates":[35],"the":[36,158],"precise":[37],"grounding":[38],"of":[39],"underspecified":[40],"instructions":[41,64],"into":[42,65],"safety-critical,":[43],"dynamically":[44],"feasible":[45],"motion":[46],"plans":[47],"subject":[48],"to":[49,81,115,140],"spatiotemporal":[50],"constraints.":[51],"To":[52],"address":[53],"challenge,":[55],"we":[56,89,125],"propose":[57],"a":[58,91,127],"unified":[59],"framework":[60,161],"that":[61,157],"translates":[62],"NL":[63],"Signal":[66],"Temporal":[67],"Logic":[68],"(STL)":[69],"specifications":[70],"subsequently":[72],"synthesizes":[73],"trajectories":[74],"via":[75],"mixed-integer":[76],"linear":[77],"programming":[78],"(MILP).":[79],"Specifically,":[80],"generate":[82],"executable":[83],"STL":[84],"formulas":[85],"from":[86],"free-form":[87],"NL,":[88],"develop":[90],"reasoning-enhanced":[92],"large":[93],"model":[95],"(LLM)":[96],"leveraging":[97],"chain-of-thought":[98],"(CoT)":[99],"supervision":[100],"group-relative":[102],"policy":[103],"optimization":[104],"(GRPO),":[105],"which":[106],"ensures":[107],"high":[108],"syntactic":[109],"validity":[110],"semantic":[112,138],"consistency.":[113],"Furthermore,":[114],"resolve":[116],"infeasibilities":[117],"induced":[118],"stringent":[120],"logical":[121],"or":[122],"spatial":[123],"requirements,":[124],"introduce":[126],"specification":[128],"repair":[129],"mechanism.":[130],"This":[131],"module":[132],"combines":[133],"MILP-based":[134],"diagnosis":[135],"with":[136],"LLM-guided":[137],"reasoning":[139],"selectively":[141],"relax":[142],"task":[143],"constraints":[144],"while":[145],"strictly":[146],"enforcing":[147],"safety":[148],"guarantees.":[149],"Extensive":[150],"simulations":[151],"real-world":[153],"flight":[154],"experiments":[155],"demonstrate":[156],"proposed":[159],"closed-loop":[160],"significantly":[162],"improves":[163],"NL-to-STL":[164],"translation":[165],"robustness,":[166],"safe,":[168],"interpretable,":[169],"adaptable":[171],"UAV":[172],"complex":[175],"scenarios.":[176]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-02T00:00:00"}