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+
+@inproceedings{penedo_language-guided_2016,
+	title = {Language-guided sampling-based planning using temporal relaxation},
+	booktitle = {International {Workshop} on the {Algorithmic} {Foundations} of {Robotics}},
+	author = {Penedo, Francisco and Vasile, Cristian-Ioan and Belta, Calin},
+	year = {2016},
+	file = {Full Text:/home/fran/.zotero/zotero/th89c3ji.default/zotero/storage/GHLV99IJ/Penedo et al. - 2016 - Language-guided sampling-based planning using temp.pdf:application/pdf}
+}
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+---
+title: "Language-Guided Sampling-Based Planning Using Temporal Relaxation."
+
+# Authors
+# If you created a profile for a user (e.g. the default `admin` user), write the username (folder name) here 
+# and it will be replaced with their full name and linked to their profile.
+authors:
+- admin
+- Cristian-Ioan Vasile
+- Calin Belta
+
+# Author notes (optional)
+# author_notes:
+# - "Equal contribution"
+# - "Equal contribution"
+
+date: "2016-12-01"
+doi: ""
+
+# Schedule page publish date (NOT publication's date).
+# publishDate: "2017-01-01T00:00:00Z"
+
+# Publication type.
+# Legend: 0 = Uncategorized; 1 = Conference paper; 2 = Journal article;
+# 3 = Preprint / Working Paper; 4 = Report; 5 = Book; 6 = Book section;
+# 7 = Thesis; 8 = Patent
+publication_types: ["1"]
+
+# Publication name and optional abbreviated publication name.
+publication: In International Workshop on the Algorithmic Foundations of Robotics, 2016
+publication_short: In WAFR 2016
+
+abstract: In this paper, we focus on robot motion planning from timed temporal logic specifications. We propose a sampling-based algorithm and an associated language-guided biasing scheme. We leverage the notion of temporal relaxation of time-window temporal logic formulae (TWTL) to reformulate the temporal logic synthesis problem into an optimization problem. Our algorithm exhibits an exploration-exploitation structure, but retains probabilistic completeness. Moreover, if the problem does not have a solution due to time constraints, the algorithm returns a candidate path that satisfies a minimally relaxed version of the specification. The path may inform operators about timing problems with the specification or the system. We provide simulations to highlight the performance of the proposed algorithm.
+
+# Summary. An optional shortened abstract.
+# summary: Lorem ipsum dolor sit amet, consectetur adipiscing elit. Duis posuere tellus ac convallis placerat. Proin tincidunt magna sed ex sollicitudin condimentum.
+
+tags: []
+
+# Display this page in the Featured widget?
+featured: true
+
+# Custom links (uncomment lines below)
+# links:
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+#   url: http://example.org
+
+url_pdf: ''
+url_code: ''
+url_dataset: ''
+url_poster: ''
+url_project: ''
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+url_source: ''
+url_video: ''
+
+# Featured image
+# To use, add an image named `featured.jpg/png` to your page's folder. 
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+
+# Associated Projects (optional).
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+#   Simply enter your project's folder or file name without extension.
+#   E.g. `internal-project` references `content/project/internal-project/index.md`.
+#   Otherwise, set `projects: []`.
+projects:
+- twtl
+
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+#   E.g. `slides: "example"` references `content/slides/example/index.md`.
+#   Otherwise, set `slides: ""`.
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+---
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