Related papers: Parametric Linear Dynamic Logic (full version)

We present a method to generate a robot control strategy that maximizes the probability to accomplish a task. The task is given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied at the regions of a…

This paper studies the control synthesis of motion planning subject to uncertainties. The uncertainties are considered in robot motions and environment properties, giving rise to the probabilistic labeled Markov decision process (PL-MDP). A…

This paper investigates the partial linear model by Least Absolute Deviation (LAD) regression. We parameterize the nonparametric term using Deep Neural Networks (DNNs) and formulate a penalized LAD problem for estimation. Specifically, our…

Linear time-periodic (LTP) dynamical systems frequently appear in the modeling of phenomena related to fluid dynamics, electronic circuits, and structural mechanics via linearization centered around known periodic orbits of nonlinear…

Periodic or quasi-periodic phenomena reveal intrinsic characteristics in various natural processes, such as weather patterns, movement behaviors, traffic flows, and biological signals. Given that these phenomena span multiple modalities,…

We consider an extension of linear-time temporal logic (LTL) with both local and remote data constraints interpreted over a concrete domain. This extension is a natural extension of constraint LTL and the Temporal Logic of Repeating Values,…

We introduce a new translation from linear temporal logic (LTL) to deterministic Emerson-Lei automata, which are omega-automata with a Muller acceptance condition symbolically expressed as a Boolean formula. The richer acceptance condition…

We propose algorithms for performing model checking and control synthesis for discrete-time uncertain systems under linear temporal logic (LTL) specifications. We construct temporal logic trees (TLT) from LTL formulae via reachability…

In recent advancements, large language models (LLMs) have exhibited proficiency in code generation and chain-of-thought reasoning, laying the groundwork for tackling automatic formal planning tasks. This study evaluates the potential of…

Metric Temporal Logic (MTL) is a prominent specification formalism for real-time systems. In this paper, we show that the satisfiability problem for MTL over finite timed words is decidable, with non-primitive recursive complexity. We also…

This paper studies Linear Temporal Logic over Finite Traces (LTLf) where proposition letters are replaced with first-order formulas interpreted over arbitrary theories, in the spirit of Satisfiability Modulo Theories. The resulting logic,…

Human drivers naturally balance the risks of different concerns while driving, including traffic rule violations, minor accidents, and fatalities. However, achieving the same behavior in autonomous driving systems remains an open problem.…

Linear Temporal Logic (LTL) is a widely used task specification language for autonomous systems. To mitigate the significant manual effort and expertise required to define LTL-encoded tasks, several methods have been proposed for…

This paper introduces time window temporal logic (TWTL), a rich expressivity language for describing various time bounded specifications. In particular, the syntax and semantics of TWTL enable the compact representation of serial tasks,…

In the signal processing and statistics literature, the minimum description length (MDL) principle is a popular tool for choosing model complexity. Successful examples include signal denoising and variable selection in linear regression,…

This paper considers robot motion planning under temporal logic constraints in probabilistic maps obtained by semantic simultaneous localization and mapping (SLAM). The uncertainty in a map distribution presents a great challenge for…

In this paper, a systematic approach is developed to embed the dynamical description of a nonlinear system into a linear parameter-varying (LPV) system representation. Initially, the nonlinear functions in the model representation are…

There is a growing interest on formal methods-based robotic planning for temporal logic objectives. In this work, we extend the scope of existing synthesis methods to hyper-temporal logics. We are motivated by the fact that important…

We consider (logical) reasoning for regular expressions with lookahead (REwLA). In this paper, we give an axiomatic characterization for both the (match-)language equivalence and the largest substitution-closed equivalence that is sound for…

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…