Related papers: Integrating active sensing into reactive synthesis…
Synthesis is the automated construction of a system from its specification. The system has to satisfy its specification in all possible environments. Modern systems often interact with other systems, or agents. Many times these agents have…
This paper studies the online control synthesis problem for uncertain discrete-time systems subject to signal temporal logic (STL) specifications. Different from existing techniques, this work proposes an approach based on STL, reachability…
Active sensing is traditionally defined as the expenditure of energy, typically in the form of movement, for obtaining information. Here, we propose that the combination of reliance on adaptive sensors, the linkage between movement and…
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…
Autonomous agents often operate in uncertain environments where their decisions are made based on beliefs over states of targets. We are interested in controller synthesis for complex tasks defined over belief spaces. Designing such…
We introduce games with probabilistic uncertainty, a natural model for controller synthesis in which the controller observes the state of the system through imprecise sensors that provide correct information about the current state with a…
This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…
A fundamental question in system design is to decide how much of the design of one component must be known in order to successfully design another component of the system. We study this question in the setting of reactive synthesis, where…
We study the problem of synthesizing a controller for a robot with a surveillance objective, that is, the robot is required to maintain knowledge of the location of a moving, possibly adversarial target. We formulate this problem as a…
In the timeline-based approach to planning, the evolution over time of a set of state variables (the timelines) is governed by a set of temporal constraints. Traditional timeline-based planning systems excel at the integration of planning…
Temporal synthesis attempts to construct reactive programs that satisfy a given declarative (LTL) formula. Practitioners have found it challenging to work exclusively with declarative specifications, and have found languages that combine…
Exact inference in probabilistic First-Order Logic offers a promising yet computationally costly approach for regulating the behavior of autonomous agents in shared traffic spaces. While prior methods have combined logical and probabilistic…
We consider the problem of computing the set of initial states of a dynamical system such that there exists a control strategy to ensure that the trajectories satisfy a temporal logic specification with probability 1 (almost-surely). We…
Reactive synthesis is concerned with finding a correct-by-construction controller from formal specifications, typically expressed in Linear Temporal Logic (LTL). The specifications describe assumptions about an environment and guarantees to…
Infinite-state reactive synthesis has attracted significant attention in recent years, which has led to the emergence of novel symbolic techniques for solving infinite-state games. Temporal logics featuring variables over infinite domains…
This paper introduces a sampling-based strategy synthesis algorithm for nondeterministic hybrid systems with complex continuous dynamics under temporal and reachability constraints. We model the evolution of the hybrid system as a…
In real-world applications, the ability to reason about incomplete knowledge, sensing, temporal notions, and numeric constraints is vital. While several AI planners are capable of dealing with some of these requirements, they are mostly…
As compared to simple actions, activities are much more complex, but semantically consistent with a human's real life. Techniques for action recognition from sensor generated data are mature. However, there has been relatively little work…
In many cases an intelligent agent may want to learn how to mimic a single observed demonstrated trajectory. In this work we consider how to perform such procedural learning from observation, which could help to enable agents to better use…
Many problems in reactive synthesis are stated using two formulas ---an environment assumption and a system guarantee--- and ask for an implementation that satisfies the guarantee in environments that satisfy their assumption. Reactive…