Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Online Motion Planning with Soft Metric Interval Temporal Logic in
  Unknown Dynamic Environment   Motion planning of an autonomous system with high-level specifications has
wide applications. However, research of formal languages involving timed
temporal logic is still under investigation. Furthermore, many existing results
rely on a key assumption that user-specified tasks are feasible in the given
environment. Challenges arise when the operating environment is dynamic and
unknown since the environment can be found prohibitive, leading to potentially
conflicting tasks where pre-specified timed missions cannot be fully satisfied.
Such issues become even more challenging when considering time-bound
requirements. To address these challenges, this work proposes a control
framework that considers hard constraints to enforce safety requirements and
soft constraints to enable task relaxation. The metric interval temporal logic
(MITL) specifications are employed to deal with time-bound constraints. By
constructing a relaxed timed product automaton, an online motion planning
strategy is synthesized with a receding horizon controller to generate
policies, achieving multiple objectives in decreasing order of priority 1)
formally guarantee the satisfaction of hard safety constraints; 2) mostly
fulfill soft timed tasks; and 3) collect time-varying rewards as much as
possible. Another novelty of the relaxed structure is to consider violations of
both time and tasks for infeasible cases. Simulation results are provided to
validate the proposed approach.

14
The categories of this paper are: math-ph
9
The categories of this paper are: nlin
30
The categories of this paper are: q-alg
33
The categories of this paper are: plasm-ph
20
The categories of this paper are: acc-phys
19
The categories of this paper are: eess
18
The categories of this paper are: econ
25
The categories of this paper are: patt-sol
26
The categories of this paper are: bayes-an
0
The categories of this paper are: hep-ph
22
The categories of this paper are: chao-dyn
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The categories of this paper are: hep-lat
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The categories of this paper are: alg-geom
34
The categories of this paper are: chem-ph
4
The categories of this paper are: cond-mat
37
The categories of this paper are: supr-con