{"ID":2852617,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.17261","arxiv_id":"2510.17261","title":"High-Level Multi-Robot Trajectory Planning And Spurious Behavior Detection","abstract":"The reliable execution of high-level missions in multi-robot systems with heterogeneous agents, requires robust methods for detecting spurious behaviors. In this paper, we address the challenge of identifying spurious executions of plans specified as a Linear Temporal Logic (LTL) formula, as incorrect task sequences, violations of spatial constraints, timing inconsistencies, or deviations from intended mission semantics. To tackle this, we introduce a structured data generation framework based on the Nets-within-Nets (NWN) paradigm, which coordinates robot actions with LTL-derived global mission specifications. We further propose a Transformer-based anomaly detection pipeline that classifies robot trajectories as normal or anomalous. Experimental evaluations show that our method achieves high accuracy (91.3%) in identifying execution inefficiencies, and demonstrates robust detection capabilities for core mission violations (88.3%) and constraint-based adaptive anomalies (66.8%). An ablation experiment of the embedding and architecture was carried out, obtaining successful results where our novel proposition performs better than simpler representations.","short_abstract":"The reliable execution of high-level missions in multi-robot systems with heterogeneous agents, requires robust methods for detecting spurious behaviors. In this paper, we address the challenge of identifying spurious executions of plans specified as a Linear Temporal Logic (LTL) formula, as incorrect task sequences, v...","url_abs":"https://arxiv.org/abs/2510.17261","url_pdf":"https://arxiv.org/pdf/2510.17261v2","authors":"[\"Fernando Salanova\",\"Jesús Roche\",\"Cristian Mahulea\",\"Eduardo Montijano\"]","published":"2025-10-20T07:47:51Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.LG\"]","methods":"[\"Transformer\"]","has_code":false}