{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,20]],"date-time":"2026-07-20T18:32:29Z","timestamp":1784572349036,"version":"3.55.0"},"publisher-location":"Cham","reference-count":43,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783319955810","type":"print"},{"value":"9783319955827","type":"electronic"}],"license":[{"start":{"date-parts":[[2018,1,1]],"date-time":"2018-01-01T00:00:00Z","timestamp":1514764800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018]]},"DOI":"10.1007\/978-3-319-95582-7_24","type":"book-chapter","created":{"date-parts":[[2018,7,11]],"date-time":"2018-07-11T14:31:17Z","timestamp":1531319477000},"page":"399-417","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Multi-robot LTL Planning Under Uncertainty"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5303-8481","authenticated-orcid":false,"given":"Claudio","family":"Menghi","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7369-2480","authenticated-orcid":false,"given":"Sergio","family":"Garcia","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5438-2281","authenticated-orcid":false,"given":"Patrizio","family":"Pelliccione","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4173-2593","authenticated-orcid":false,"given":"Jana","family":"Tumova","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2018,7,12]]},"reference":[{"key":"24_CR1","unstructured":"The Angen Research and Innovation Apartment (2014). http:\/\/angeninnovation.se"},{"key":"24_CR2","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1007\/978-3-319-66197-1_4","volume-title":"Software Engineering and Formal Methods","author":"A Bernasconi","year":"2017","unstructured":"Bernasconi, A., Menghi, C., Spoletini, P., Zuck, L.D., Ghezzi, C.: From model checking to a temporal proof for partial models. In: Cimatti, A., Sirjani, M. (eds.) SEFM 2017. LNCS, vol. 10469, pp. 54\u201369. Springer, Cham (2017). https:\/\/doi.org\/10.1007\/978-3-319-66197-1_4"},{"key":"24_CR3","doi-asserted-by":"crossref","unstructured":"Bhatia, A., Kavraki, L.E., Vardi, M.Y.: Motion planning with hybrid dynamics and temporal goals. In: Conference on Decision and Control (CDC), pp. 1108\u20131115. IEEE (2010)","DOI":"10.1109\/CDC.2010.5717440"},{"key":"24_CR4","doi-asserted-by":"crossref","unstructured":"Bhatia, A., Kavraki, L.E., Vardi, M.Y.: Sampling-based motion planning with temporal goals. In: International Conference on Robotics and Automation (ICRA), pp. 2689\u20132696. IEEE (2010)","DOI":"10.1109\/ROBOT.2010.5509503"},{"key":"24_CR5","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"274","DOI":"10.1007\/3-540-48683-6_25","volume-title":"Computer Aided Verification","author":"G Bruns","year":"1999","unstructured":"Bruns, G., Godefroid, P.: Model checking partial state spaces with 3-valued temporal logics. In: Halbwachs, N., Peled, D. (eds.) CAV 1999. LNCS, vol. 1633, pp. 274\u2013287. Springer, Heidelberg (1999). https:\/\/doi.org\/10.1007\/3-540-48683-6_25"},{"key":"24_CR6","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"168","DOI":"10.1007\/3-540-44618-4_14","volume-title":"CONCUR 2000 \u2014 Concurrency Theory","author":"G Bruns","year":"2000","unstructured":"Bruns, G., Godefroid, P.: Generalized model checking: reasoning about partial state spaces. In: Palamidessi, C. (ed.) CONCUR 2000. LNCS, vol. 1877, pp. 168\u2013182. Springer, Heidelberg (2000). https:\/\/doi.org\/10.1007\/3-540-44618-4_14"},{"issue":"4","key":"24_CR7","first-page":"1","volume":"12","author":"M Chechik","year":"2004","unstructured":"Chechik, M., Devereux, B., Easterbrook, S., Gurfinkel, A.: Multi-valued symbolic model-checking. ACM Trans. Softw. Eng. Methodol. 12(4), 1\u201338 (2004)","journal-title":"ACM Trans. Softw. Eng. Methodol."},{"issue":"5","key":"24_CR8","doi-asserted-by":"publisher","first-page":"547","DOI":"10.1177\/0278364912473168","volume":"32","author":"Y Chen","year":"2013","unstructured":"Chen, Y., T\u016fmov\u00e1, J., Ulusoy, A., Belta, C.: Temporal logic robot control based on automata learning of environmental dynamics. Int. J. Robot. Res. 32(5), 547\u2013565 (2013)","journal-title":"Int. J. Robot. Res."},{"key":"24_CR9","doi-asserted-by":"crossref","unstructured":"Cunningham, A.G., Galceran, E., Eustice, R.M., Olson, E.: MPDM: multipolicy decision-making in dynamic, uncertain environments for autonomous driving. In: International Conference on Robotics and Automation (ICRA), pp. 1670\u20131677 (2015)","DOI":"10.1109\/ICRA.2015.7139412"},{"key":"24_CR10","doi-asserted-by":"crossref","unstructured":"Diaz, J.F., Stoytchev, A., Arkin, R.C.: Exploring unknown structured environments. In: FLAIRS Conference, pp. 145\u2013149. AAAI Press (2001)","DOI":"10.21236\/ADA443608"},{"issue":"1","key":"24_CR11","doi-asserted-by":"publisher","first-page":"3515","DOI":"10.3182\/20110828-6-IT-1002.02287","volume":"44","author":"XCD Ding","year":"2011","unstructured":"Ding, X.C.D., Smith, S.L., Belta, C., Rus, D.: LTL control in uncertain environments with probabilistic satisfaction guarantees*. IFAC Proc. Vol. 44(1), 3515\u20133520 (2011)","journal-title":"IFAC Proc. Vol."},{"issue":"1","key":"24_CR12","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1109\/TRO.2011.2166435","volume":"28","author":"NE Toit Du","year":"2012","unstructured":"Du Toit, N.E., Burdick, J.W.: Robot motion planning in dynamic, uncertain environments. IEEE Trans. Robot. 28(1), 101\u2013115 (2012)","journal-title":"IEEE Trans. Robot."},{"key":"24_CR13","doi-asserted-by":"crossref","DOI":"10.1017\/CBO9781139583923","volume-title":"Automated Planning and Acting","author":"M Ghallab","year":"2016","unstructured":"Ghallab, M., Nau, D., Traverso, P.: Automated Planning and Acting, 1st edn. Cambridge University Press, New York (2016)","edition":"1"},{"key":"24_CR14","doi-asserted-by":"crossref","unstructured":"Godefroid, P., Huth, M.: Model checking vs. generalized model checking: semantic minimizations for temporal logics. In: Logic in Computer Science, pp. 158\u2013167. IEEE Computer Society (2005)","DOI":"10.1109\/LICS.2005.28"},{"issue":"6","key":"24_CR15","doi-asserted-by":"publisher","first-page":"571","DOI":"10.1007\/s10009-010-0169-3","volume":"13","author":"P Godefroid","year":"2011","unstructured":"Godefroid, P., Piterman, N.: LTL generalized model checking revisited. Int. J. Softw. Tools Technol. Transf. 13(6), 571\u2013584 (2011)","journal-title":"Int. J. Softw. Tools Technol. Transf."},{"issue":"2","key":"24_CR16","doi-asserted-by":"publisher","first-page":"218","DOI":"10.1177\/0278364914546174","volume":"34","author":"M Guo","year":"2015","unstructured":"Guo, M., Dimarogonas, D.V.: Multi-agent plan reconfiguration under local LTL specifications. Int. J. Robot. Res. 34(2), 218\u2013235 (2015)","journal-title":"Int. J. Robot. Res."},{"key":"24_CR17","doi-asserted-by":"crossref","unstructured":"Guo, M., Johansson, K.H., Dimarogonas, D.V.: Revising motion planning under linear temporal logic specifications in partially known workspaces. In: International Conference on Robotics and Automation (ICRA), pp. 5025\u20135032. IEEE (2013)","DOI":"10.1109\/ICRA.2013.6631295"},{"key":"24_CR18","unstructured":"Karras, C.D.U., Neumann, T., Rohr, T.N.A., Uemura, W., Ewert, D., Harder, N., Jentzsch, S., Meier, N., Reuter, S.: RoboCup logistics league rules and regulations (2016)"},{"key":"24_CR19","doi-asserted-by":"crossref","unstructured":"Khaliq, A.A., Saffiotti, A.: Stigmergy at work: planning and navigation for a service robot on an RFID floor. In: International Conference on Robotics and Automation (ICRA), pp. 1085\u20131092. IEEE (2015)","DOI":"10.1109\/ICRA.2015.7139311"},{"key":"24_CR20","doi-asserted-by":"crossref","unstructured":"Kloetzer, M., Ding, X.C., Belta, C.: Multi-robot deployment from LTL specifications with reduced communication. In: Conference on Decision and Control and European Control Conference (CDC-ECC), pp. 4867\u20134872. IEEE (2011)","DOI":"10.1109\/CDC.2011.6160478"},{"issue":"6","key":"24_CR21","doi-asserted-by":"publisher","first-page":"1370","DOI":"10.1109\/TRO.2009.2030225","volume":"25","author":"H Kress-Gazit","year":"2009","unstructured":"Kress-Gazit, H., Fainekos, G.E., Pappas, G.J.: Temporal-logic-based reactive mission and motion planning. IEEE Trans. Robot. 25(6), 1370\u20131381 (2009)","journal-title":"IEEE Trans. Robot."},{"issue":"3","key":"24_CR22","doi-asserted-by":"publisher","first-page":"308","DOI":"10.1177\/0278364910386986","volume":"30","author":"H Kurniawati","year":"2011","unstructured":"Kurniawati, H., Du, Y., Hsu, D., Lee, W.S.: Motion planning under uncertainty for robotic tasks with long time horizons. Int. J. Robot. Res. 30(3), 308\u2013323 (2011)","journal-title":"Int. J. Robot. Res."},{"key":"24_CR23","doi-asserted-by":"crossref","unstructured":"Lacerda, B., Parker, D., Hawes, N.: Optimal and dynamic planning for Markov decision processes with co-safe LTL specifications. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1511\u20131516 (2014)","DOI":"10.1109\/IROS.2014.6942756"},{"key":"24_CR24","doi-asserted-by":"crossref","unstructured":"Larsen, K.G., Thomsen, B.: A modal process logic. In: Logic in Computer Science, pp. 203\u2013210. IEEE (1988)","DOI":"10.1109\/LICS.1988.5119"},{"issue":"4","key":"24_CR25","doi-asserted-by":"publisher","first-page":"457","DOI":"10.1007\/s10009-014-0344-z","volume":"17","author":"R Lassaigne","year":"2015","unstructured":"Lassaigne, R., Peyronnet, S.: Approximate planning and verification for large markov decision processes. Int. J. Softw. Tools Technol. Transf. 17(4), 457\u2013467 (2015)","journal-title":"Int. J. Softw. Tools Technol. Transf."},{"key":"24_CR26","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4022-9","volume-title":"Robot Motion Planning","author":"JC Latombe","year":"2012","unstructured":"Latombe, J.C.: Robot Motion Planning, vol. 124. Springer, New York (2012). https:\/\/doi.org\/10.1007\/978-1-4615-4022-9"},{"key":"24_CR27","doi-asserted-by":"publisher","first-page":"175","DOI":"10.1007\/s10515-008-0027-7","volume":"15","author":"E Letier","year":"2008","unstructured":"Letier, E., Kramer, J., Magee, J., Uchitel, S.: Deriving event-based transition systems from goal-oriented requirements models. Autom. Softw. Eng. 15, 175\u2013206 (2008)","journal-title":"Autom. Softw. Eng."},{"key":"24_CR28","doi-asserted-by":"crossref","unstructured":"Loizou, S.G., Kyriakopoulos, K.J.: Automated planning of motion tasks for multi-robot systems. In: Conference on Decision and Control and European Control Conference (CDC-ECC), pp. 78\u201383. IEEE (2005)","DOI":"10.1109\/CDC.2005.1582134"},{"key":"24_CR29","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1007\/978-3-319-89363-1_10","volume-title":"Fundamental Approaches to Software Engineering","author":"C Menghi","year":"2018","unstructured":"Menghi, C., Spoletini, P., Chechik, M., Ghezzi, C.: Supporting verification-driven incremental distributed design of components. In: Russo, A., Sch\u00fcrr, A. (eds.) FASE 2018. LNCS, vol. 10802, pp. 169\u2013188. Springer, Cham (2018). https:\/\/doi.org\/10.1007\/978-3-319-89363-1_10"},{"key":"24_CR30","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"531","DOI":"10.1007\/978-3-319-48989-6_32","volume-title":"FM 2016: Formal Methods","author":"C Menghi","year":"2016","unstructured":"Menghi, C., Spoletini, P., Ghezzi, C.: Dealing with incompleteness in automata-based model checking. In: Fitzgerald, J., Heitmeyer, C., Gnesi, S., Philippou, A. (eds.) FM 2016. LNCS, vol. 9995, pp. 531\u2013550. Springer, Cham (2016). https:\/\/doi.org\/10.1007\/978-3-319-48989-6_32"},{"key":"24_CR31","doi-asserted-by":"publisher","first-page":"112","DOI":"10.1007\/978-3-319-54045-0_9","volume-title":"Requirements Engineering: Foundation for Software Quality","author":"Claudio Menghi","year":"2017","unstructured":"Menghi, C., Spoletini, P., Ghezzi, C.: COVER: Change-based goal verifier and reasoner. In: Knauss, E., et al. (eds.) Proceedings of the 22nd International Conference on Requirements Engineering: Foundation for Software Quality: Companion Proceeedings, REFSQ 2017, Essen, Germany, February 27, 2017, pp. 434\u2013435, vol. 1796. CEUR-WS.org (2017). http:\/\/ceur-ws.org\/Vol-1796"},{"key":"24_CR32","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"112","DOI":"10.1007\/978-3-319-54045-0_9","volume-title":"Requirements Engineering: Foundation for Software Quality","author":"C Menghi","year":"2017","unstructured":"Menghi, C., Spoletini, P., Ghezzi, C.: Integrating goal model analysis with iterative design. In: Gr\u00fcnbacher, P., Perini, A. (eds.) REFSQ 2017. LNCS, vol. 10153, pp. 112\u2013128. Springer, Cham (2017). https:\/\/doi.org\/10.1007\/978-3-319-54045-0_9"},{"key":"24_CR33","doi-asserted-by":"publisher","unstructured":"Menghi, C., Tsigkanos, C., Berger, T., Pelliccione, P., Ghezzi, C.: Property specification patterns for robotic missions. In: Proceedings of the 40th International Conference on Software Engineering: Companion Proceeedings, ICSE 2018, Gothenburg, Sweden, May 27\u2013June 03, pp. 434\u2013435. ACM (2018). https:\/\/doi.org\/10.1145\/3183440.3195044","DOI":"10.1145\/3183440.3195044"},{"key":"24_CR34","doi-asserted-by":"crossref","unstructured":"Quottrup, M.M., Bak, T., Zamanabadi, R.: Multi-robot planning: a timed automata approach. In: International Conference on Robotics and Automation, vol. 5, pp. 4417\u20134422. IEEE (2004)","DOI":"10.1109\/ROBOT.2004.1302413"},{"key":"24_CR35","doi-asserted-by":"publisher","first-page":"417","DOI":"10.1007\/10991459_40","volume-title":"Field and Service Robotics","author":"N Roy","year":"2006","unstructured":"Roy, N., Gordon, G., Thrun, S.: Planning under uncertainty for reliable health care robotics. In: Yuta, S., Asama, H., Prassler, E., Tsubouchi, T., Thrun, S. (eds.) Field and Service Robotics, pp. 417\u2013426. Springer, Heidelberg (2006). https:\/\/doi.org\/10.1007\/10991459_40"},{"key":"24_CR36","unstructured":"Schillinger, P., B\u00fcrger, M., Dimarogonas, D.: Decomposition of finite LTL specifications for efficient multi-agent planning. In: International Symposium on Distributed Autonomous Robotic Systems (2016)"},{"key":"24_CR37","doi-asserted-by":"crossref","unstructured":"Tsigkanos, C., Pasquale, L., Menghi, C., Ghezzi, C., Nuseibeh, B.: Engineering topology aware adaptive security: preventing requirements violations at runtime. In: International Requirements Engineering Conference (RE), pp. 203\u2013212 (2014)","DOI":"10.1109\/RE.2014.6912262"},{"key":"24_CR38","doi-asserted-by":"publisher","first-page":"239","DOI":"10.1016\/j.automatica.2016.04.006","volume":"70","author":"J Tumova","year":"2016","unstructured":"Tumova, J., Dimarogonas, D.V.: Multi-agent planning under local LTL specifications and event-based synchronization. Automatica 70, 239\u2013248 (2016)","journal-title":"Automatica"},{"issue":"4","key":"24_CR39","doi-asserted-by":"publisher","first-page":"279","DOI":"10.1007\/s00450-012-0233-1","volume":"28","author":"S Uchitel","year":"2013","unstructured":"Uchitel, S., Alrajeh, D., Ben-David, S., Braberman, V., Chechik, M., De Caso, G., D\u2019Ippolito, N., Fischbein, D., Garbervetsky, D., Kramer, J., et al.: Supporting incremental behaviour model elaboration. Comput. Sci. Res. Dev. 28(4), 279\u2013293 (2013)","journal-title":"Comput. Sci. Res. Dev."},{"issue":"3","key":"24_CR40","doi-asserted-by":"publisher","first-page":"384","DOI":"10.1109\/TSE.2008.107","volume":"35","author":"S Uchitel","year":"2009","unstructured":"Uchitel, S., Brunet, G., Chechik, M.: Synthesis of partial behavior models from properties and scenarios. IEEE Trans. Softw. Eng. 35(3), 384\u2013406 (2009)","journal-title":"IEEE Trans. Softw. Eng."},{"issue":"1","key":"24_CR41","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1006\/inco.1994.1092","volume":"115","author":"M Vardi","year":"1994","unstructured":"Vardi, M., Wolper, P.: Reasoning about infinite computations. Inf. Comput. 115(1), 1\u201337 (1994)","journal-title":"Inf. Comput."},{"key":"24_CR42","doi-asserted-by":"crossref","unstructured":"Wolff, E.M., Topcu, U., Murray, R.M.: Robust control of uncertain markov decision processes with temporal logic specifications. In: Annual Conference on Decision and Control (CDC), pp. 3372\u20133379. IEEE (2012)","DOI":"10.1109\/CDC.2012.6426174"},{"issue":"5","key":"24_CR43","doi-asserted-by":"publisher","first-page":"438","DOI":"10.1177\/0278364915595278","volume":"35","author":"C Yoo","year":"2016","unstructured":"Yoo, C., Fitch, R., Sukkarieh, S.: Online task planning and control for fuel-constrained aerial robots in wind fields. Int. J. Robot. Res. 35(5), 438\u2013453 (2016)","journal-title":"Int. J. Robot. Res."}],"container-title":["Lecture Notes in Computer Science","Formal Methods"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-95582-7_24","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,5]],"date-time":"2025-07-05T18:22:40Z","timestamp":1751739760000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-319-95582-7_24"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018]]},"ISBN":["9783319955810","9783319955827"],"references-count":43,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-95582-7_24","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018]]}}}