Structural Constraints

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Structural Constraints

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Satisfiability

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Label Constraint Modeling

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Answer Set Programming

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Constraint Satisfaction

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317 papers

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PEACE: A Planner-Executor Agent with Constraint Enforcement for UAVs
May 26, 2026Erdem Uysal, Timo Kehrer, Sebastiano PanichellaDrone Planning Methods
Blocked Gibbs meets Diffusion Transformers: Unsupervised Learning for Constraint Optimization
May 24, 2026Yudong W. Xu, Wenhao Li, Xiaoyu Wang +2Constraint Satisfaction Multimodal Diffusion Transformers
AION: Next-Generation Tasks and Practical Harness for Time Series
May 24, 2026Tianxiang Zhan, Xiaobao Song, Tong Guan +2Structural Constraints
Mitigating Gradient Pathology in PINNs through Aligned Constraint
May 24, 2026Yichen Luo, Peiyu Zhu, Dongxiao Hu +5Conventional Physics-Informed Neural Networks Partial Differential Equation Benchmarks
Solving Combinatorial Counting Problems with Weighted First-Order Model Counting
May 24, 2026Yuanhong Wang, Juhua Pu, Yuxu Zhou +2Combinations Counting
Manifold-Constrained MPPI: Real-Time Sampling-Based Control Under Hard Constraints
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Hypothesis Generation and Inductive Inference in Children and Language Models
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CAffNet: Hard Constraint-Affine Neural Networks
May 23, 2026Yang Zhao, Jungeun Lee, Jeong hwan Jeon +1Constraint Satisfaction Affine
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May 21, 2026Kaushal BansalCode Quality Artificial Intelligence Reviewers
Parametric Modular Answer Set Programs Made Declarative
May 21, 2026Jorge Fandinno, Yuliya Lierler, Torsten SchaubAnswer Set Programming Modular Framework
KAPPS: A knowledge-based CPPS Architecture for the Circular Factory
May 21, 2026Etienne Hoffmann, Jan-Felix Klein, Sören Weindel +7Cyber-Physical System Circular Factory
Component Influence-Driven Fastener Reduction for Robotic Disassemblability-Aware Design Simplification
May 20, 2026Takuya Kiyokawa, Tomoki Ishikura, Shingo Hamada +2Structural Constraints
The Constraint Tax: Measuring Validity-Correctness Tradeoffs in Structured Outputs for Small Language Models
May 20, 2026Jaideep RaySmall Language Models Validity
Draw2Think: Harnessing Geometry Reasoning through Constraint Engine Interaction
May 20, 2026Juncheng Hu, Jiawei Du, Xin Zhang +1Representational Geometry Thinking
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May 19, 2026J. Schwardt, J. C. BudichSatisfiability Parallel Continuous Local Search
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May 19, 2026Antonio Ielo, Francesco Doria, Sandra Castellanos-Paez +3Power Systems Answer Set Programming
Streamlined Constraint Reasoning via CNN Pattern Recognition on Enumerated Solutions
May 19, 2026Patrick SpracklenLabel Constraint Modeling Convolutional Neural Networks
Transforming Constraint Programs to Input for Local Search
May 19, 2026Jo Devriendt, Patrick De Causmaecker, Marc DeneckerParallel Continuous Local Search Constraint Satisfaction
Inference-Time Scaling in Diffusion Models through Iterative Partial Refinement
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Learning to Hand Off: Provably Convergent Workflow Learning under Interface Constraints
May 18, 2026Jiayu Li, Enpei Zhang, Dawei Zhou +2Q-Learning Multi-Agent Workflows
The Annotation Scarcity Paradox in Low-Resource NLP Evaluation: A Decade of Acceleration and Emerging Constraints
May 18, 2026Vukosi MarivateLegal Natural Language Processing Benchmarks Data Scarcity
Constrained Code Generation with Discrete Diffusion
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Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception
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Petri Net Induced Heuristic Search for Resource Constrained Scheduling
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Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
May 15, 2026Viswa Narayanan Sankaranarayanan, Vignesh K. Viswanathan, Akshit Saradagi +2Obstacle Avoidance Autonomous Navigation
Orthologic for SAT Solving
May 14, 2026Vladislas de Haldat, Simon Guilloud, Viktor KunčakSatisfiability Propositions
Monitoring Data-aware Temporal Properties (Extended Version)
May 14, 2026Alessandro Gianola, Marco Montali, Sarah WinklerLinear Temporal Logics Answer Set Programming
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May 14, 2026Sohaib AfifiScheduling Constraint Satisfaction
Enjoy Your Layer Normalization with the Computational Efficiency of RMSNorm
May 14, 2026Yuxin Guo, Yihao Yue, Yunhao Ni +4Batch Normalization Graph Neural Network Inference
Optimal Pattern Detection Tree for Symbolic Rule-Based Classification
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Generative Floor Plan Design with LLMs via Reinforcement Learning with Verifiable Rewards
May 13, 2026Luis Lara, Aristides Milios, Zhi Hao Luo +5Floor Plan Generation Large Language Model Planning
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Learning Local Constraints for Reinforcement-Learned Content Generators
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May 13, 2026Hisashi Miyashita, Mgnite IncOntology Collapse
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May 12, 2026Haoyu Wang, Yuliang Song, Tao Li +5Classical Solvers Label Constraint Modeling
Optimal Policy Learning under Budget and Coverage Constraints
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Clausal Deletion Backdoors for QBF: a Parameterized Complexity Approach
May 12, 2026Leif Eriksson, Victor Lagerkvist, Sebastian Ordyniak +3Satisfiability Computable
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May 12, 2026Wenxin Dong, Mingqing Hu, Guanghui Yu +7LLM Inference Efficiency Graphics Processing Unit Kernels
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Enforcing Constraints in Generative Sampling via Adaptive Correction Scheduling
May 11, 2026Noah Trupin, Yexiang XueStructural Constraints Optimal Scheduling
Exact Fixed-Point Constraints in Neural-ODEs with Provable Universality
May 11, 2026Feliciano Giuseppe Pacifico, Duccio Fanelli, Lorenzo Buffoni +3Neural Ordinary Differential Equations Fixed-Point Iteration
Extending Confidence-Based Text2Cypher with Grammar and Schema Aware Filtering
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Adaptive Data Harvesting for Efficient Neural Network Learning with Universal Constraints
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Cplus2ASP: Computing Action Language C+ in Answer Set Programming
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Functional Stable Model Semantics and Answer Set Programming Modulo Theories
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Beyond ESG Scores: Learning Dynamic Constraints for Sequential Portfolio Optimization
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Agentic MIP Research: Accelerated Constraint Handler Generation
May 9, 2026Liding Xu, Yugeng Zhou, Sebastian PokuttaConstraint Satisfaction Mixed-Integer Programming
A Tale of Two Problems: Multi-Task Bilevel Learning Meets Equality Constrained Multi-Objective Optimization
May 9, 2026Zhiyao Zhang, Myeung Suk Oh, Zhen Qin +3Bilevel Optimization Multi-Objective Optimization
Can We Formally Verify Neural PDE Surrogates? SMT Compilation of Small Fourier Neural Operators
May 9, 2026Ali Baheri, Ignacio Laguna PeraltaFourier Neural Operators Neural Network Verification
Where Larger Models Excel: The Primacy of Constraint-Guided Reasoning
May 9, 2026Guan-Yi Lin, Hen-Hsen HuangReasoning Benchmark Large Behavior Model
Narrative Landscape: Mapping Narrative Dispositions Across LLMs
May 9, 2026Donghoon Jung, Jiwoo Choi, Songeun Chae +1Narratives Frontier Models
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May 9, 2026Jiaxiang Geng, Yiyi Lu, Lunyu Zhao +3Heterogeneous Edge Devices Large Language Model Fine-Tuning
MathConstraint: Automated Generation of Verified Combinatorial Reasoning Instances for LLMs
May 8, 2026Viresh Pati, Zhengyu Li, Piyush Jha +3Reasoning Benchmark Combinations
Bounded Fitting for Expressive Description Logics
May 8, 2026Maurice Funk, Jean Christoph Jung, Tom VoellmerSatisfiability New Bounds

May 26, 2026 · cs.ROJ/K move · Enter open · S save

PEACE: A Planner-Executor Agent with Constraint Enforcement for UAVs

Erdem Uysal, Timo Kehrer, Sebastiano Panichella

Institute of Computer Science, University of Bern, 3012 Bern, Switzerland

Foundation models are increasingly used to drive autonomous systems, yet existing approaches either keep the model in a tight control loop, raising latency and hallucination risk, or compile natural language into opaque end-to-end policies that are hard to explain, constraint and require domain-specific datasets and fine-tuning. We propose a planner-executor agent for PX4-based drones that decouples high-level mission planning from low-level control. A large language model performs single-pass task planning, while execution is handled through a structured ROS 2 tool-calling interface bridged to MAVLink. The system constructs a world model by combining modular 2D detectors (e.g., YOLO or vision-language models) with a pinhole depth projection module for 3D object localization. A constraint enforcement layer enforces altitude limits and horizontal geofencing, and bounded replanning enables recovery from execution-time action failures. We position our approach within three common design patterns for foundation-model-based robotics systems and demonstrate its feasibility in PX4 software-in-the-loop simulations in Gazebo. Results highlight improved explainability, constraint enforcement, and reduced LLM calls compared to tightly coupled LLM control. The code, dataset, videos, and other material can be found at the following link: https://github.com/erdemuysalx/PEACE

Drone Planning Methods Robotics Structural Constraints

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