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On the Synthesis of Guaranteed-Quality Plans for Robot Fleets in Logistics Scenarios via Optimization Modulo Theories
[article]
2017
arXiv
pre-print
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In this paper we report on the usage of Optimization Modulo Theories (OMT) to solve certain multi-robot scheduling problems in this area. ...
Acknowledgments The authors would like to thank Igor Bongartz and Lukas Netz for their help with the implementation and validation of the results presented. ...
A promising solution to this problem is offered by the recently emerging field of Optimization Modulo Theories (OMT), where Satisfiability Modulo Theories (SMT) solving is extended with functionalities ...
arXiv:1711.04259v1
fatcat:6pwcr24p3relxbxqh7holsk36y
Guaranteed Plans for Multi-Robot Systems via Optimization Modulo Theories
2018
PROCEEDINGS OF THE THIRTIETH AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE AND THE TWENTY-EIGHTH INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE CONFERENCE
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A promising solution to this problem is offered by the recently emerging field of Optimization Modulo Theories (OMT), where Satisfiability Modulo Theories (SMT) solving is extended with optimization functionalities ...
We then encode the synthesis problem as a linear mixed-integer problem and employ Optimization Modulo Theories to synthesize controllers with optimality guarantees. ...
A promising solution to this problem is offered by the recently emerging field of Optimization Modulo Theories (OMT), where Satisfiability Modulo Theories (SMT) solving is extended with optimization functionalities ...
doi:10.1609/aaai.v32i1.11350
fatcat:3qaa7jehyvgz3awvf2q4x6zw4q
Sum of Costs Optimal Multi-Agent Path Finding with Continuous Time via Satisfiability Modulo Theories
2021
Symposium on Combinatorial Search
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Recently a novel solving approach for obtaining makespan optimal solutions called SMT-CCBS based on satisfiability modulo theories (SMT) has been introduced. ...
Multi-agent path finding with continuous movements and time (denoted MAPF R ) is addressed. ...
A Satisfiability Modulo Theory Approach A recent algorithm called SMT-CBS R (Surynek 2020) rephrases CCBS as problem solving in satisfiability modulo theories (SMT) (Bofill et al. 2012; Tinelli 2010) ...
dblp:conf/socs/Surynek21a
fatcat:ya7za64mpzf43bhvsjrvsuvqrm
Answer Set Programming Modulo `Space-Time'
[article]
2018
arXiv
pre-print
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We present ASP Modulo 'Space-Time', a declarative representational and computational framework to perform commonsense reasoning about regions with both spatial and temporal components. ...
We present an empirical evaluation (with scalability and robustness results), and include diverse application examples involving interpretation and control tasks. ...
For instance, ASP Modulo Theories (ASPMT) go beyond the propositional setting of standard answer set programs by the integration of ASP with Satisfiability Modulo Theories (SMT) thereby facilitating reasoning ...
arXiv:1805.06861v1
fatcat:j5eulz4egnbqlahckeq5wrl3di
SMarTplan: a Task Planner for Smart Factories
[article]
2018
arXiv
pre-print
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Task planning is one example where AI enables more efficient and flexible operation through an online automated adaptation and rescheduling of the activities to cope with new operational constraints and ...
AI is planning a major role in this transition, but the scenarios encountered in practice might be challenging for current tools. ...
Acknowledgements The authors would like to thank Igor Bongartz for his help with the implementation and validation of RCLLPlan. ...
arXiv:1806.07135v1
fatcat:sqq32lgsqfbmvje4hoskueex3q
Analysis, Synchronization, and Robotic Application of a Modified Hyperjerk Chaotic System
2020
Complexity
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The proposed system is then applied, as a chaotic generator, to the problem of chaotic path planning, using a combination of sampling and a modulo tactic technique. ...
First, a dynamical analysis on the system is performed and interesting phenomena concerning chaos theory, such as route to chaos, antimonotonicity, crisis, and coexisting attractors, are studied. ...
By using a modulo operator on the chaotic system, a chaotic series of motions can be generated that yields an even grid coverage with satisfying percentage.
Motion in Eight Directions. ...
doi:10.1155/2020/2826850
fatcat:qqkv36hl7zcitdo7gxf6ximnay
Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning
2022
IEEE Robotics and Automation Letters
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2022 pre-print arXiv:2210.09367v1 fatcat:bjfrfum5k5abvfnvu7fcwun2ya
realization (i.e., motion plans). ...
This paper presents Task and Motion Informed Trees (TMIT*), an optimal TMP algorithm that combines results from makespan-optimal task planning and almost-surely asymptotically optimal motion planning. ...
When combined with novel SMT-based (Satisfiability Modulo Theories [7] ) symbolic planning and a differentiable distance-based predicate representation [8] , this allows TMIT* to quickly find initial ...
doi:10.1109/lra.2022.3199676
fatcat:jbeynasqy5g5rmmnpaqcnw2br4
Linearized Analysis of (2+1)-Dimensional Einstein-Maxwell Theory
1990
Progress of theoretical physics
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This is the so-called "conformal superspace"4) which is defined by superspace modulo conformal mappings. As a deformation theory, topology changing effects are difficult to treat. ...
the linearized theory. ...
of hypersurface with second fundamental form Kij in a space-time satisfying Einstein equations. ...
doi:10.1143/ptp.83.805
fatcat:3yjdfsbrfrhm3jgfmqhczmq6b4
Pushing the Envelope: From Discrete to Continuous Movements in Multi-Agent Path Finding via Lazy Encodings
[article]
2020
arXiv
pre-print
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We introduce a novel solving approach for obtaining makespan optimal solutions called SMT-CBS^R based on satisfiability modulo theories (SMT). ...
Multi-agent path finding in continuous space and time with geometric agents MAPF^R is addressed in this paper. ...
A Satisfiability Modulo Theory Approach We will use for the specific case of CCBS the idea introduced in [35] that rephrases the algorithm as problem solving in satisfiability modulo theories (SMT) ...
arXiv:2004.13477v1
fatcat:bf7h7fb3oza6xcgrz4wjprppwe
Automated Planning and Model Checking (Dagstuhl Seminar 14482)
2015
Dagstuhl Reports
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In artificial intelligence, automated planning deals with the automatic generation of plans for achieving a goal. ...
Given a formal model of a system and a property specification, the task is to explore the state space and verify whether or not the property is satisfied by the model. ...
There were a number of talks on "X" Modulo Theories, where "X" ranged from SAT and Search to Planning. ...
doi:10.4230/dagrep.4.11.227
dblp:journals/dagstuhl-reports/CimattiEFMP14
fatcat:ukc75llezvg2jevqaytqouvzje
Formal Design of Robot Integrated Task and Motion Planning
[article]
2016
arXiv
pre-print
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Furthermore, these proven safe motion primitives are composed based on an encoding to Satisfiability Modulo Theories (SMT) that takes into account the geometric constraints. ...
Integrated Task and Motion Planning (ITMP) for mobile robots in a dynamic environment with moving obstacles is a challenging research question and attracts more and more attentions recently. ...
In the second step, those safe motion primitives are encoded to a Satisfiability Modulo Theories (SMT) solver as motion primitive constraints. ...
arXiv:1604.05657v2
fatcat:q6g37ozugvdvpiemsmw4b6hbsm
Automated composition of motion primitives for multi-robot systems from safe LTL specifications
2014
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
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We present a compositional motion planning framework for multi-robot systems based on an encoding to satisfiability modulo theories (SMT). ...
Our approach can also be extended to synthesize optimal cost trajectories where optimality is defined with respect to the available motion primitives. ...
We leverage the power of an off-the-shelf satisfiability modulo theories (SMT) solver [16] to solve the system of constraints. ...
doi:10.1109/iros.2014.6942758
dblp:conf/iros/SahaRKPS14
fatcat:xxve6nmukbhhfbxq2mfsxb42ti
Theory of 1D Vlasov-Maxwell Equilibria
2009
AIP Conference Proceedings
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The equilibrium equations for the magnetic vector potential are equivalent to the motion of a particle in a two-dimensional potential.The theory is applied to some examples for one-dimensional current ...
All positive functions f s satisfying the appropriate conditions for existence of velocity moments etc and depending only on the constants of motion, f s = f s (H s , p xs , p ys ) (6) solve the steady-state ...
It turns out that Ampère's law can be written as d 2 A x dz 2 = −µ 0 ∂ P ∂ A x (14) d 2 A y dz 2 = −µ 0 ∂ P ∂ A y . (15) These two equations are the equations of motion for a pseudo-particle with position ...
doi:10.1063/1.3099222
fatcat:icw7fgv2ivgu5n5iww3pduykle
SMT-based synthesis of integrated task and motion plans from plan outlines
2014
2014 IEEE International Conference on Robotics and Automation (ICRA)
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Our synthesis algorithm complements continuous motion planning algorithms with calls to a Satisfiability Modulo Theories (SMT) solver. ...
From the scene description, a motion planning algorithm is used to construct a placement graph, an abstraction of a manipulation graph whose paths represent feasible, low-level motion plans. ...
Our approach to solving the problem is based on two key ideas: (1) we request a limited amount of specification from the user of our system; and (2) we use a Satisfiability Modulo Theories (SMT) solver ...
doi:10.1109/icra.2014.6906924
dblp:conf/icra/NedunuriPMCK14
fatcat:rlqlhxobjbervh55peqoswqxvi
Representing Hybrid Automata by Action Language Modulo Theories
[article]
2017
arXiv
pre-print
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We first show how to represent linear hybrid automata with convex invariants by an action language modulo theories. ...
set programs to the first-order level similar to the way satisfiability modulo theories (SMT) extends propositional satisfiability (SAT). ...
Acknowledgements: We are grateful to Sicun Gao and Soonho Kong for their help on running dReal and dReach systems, to Daniel Bryce for his help with benchmark problems, and the anonymous referees for their ...
arXiv:1707.06387v2
fatcat:wiukesserffsjobt5sum562ly4
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