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This paper studies the controller synthesis problem for nonlinear control systems under linear temporal logic (LTL) specifications using zonotope techniques. A local-to-global control strategy is proposed for the desired specification…
Modal synthesis is an important area of physical modeling whose exploration in the past has been held back by a large number of control parameters, the scarcity of general-purpose design tools and the difficulty of obtaining the…
Agents controlled by the output of reinforcement learning (RL) algorithms often transition to unsafe states, particularly in uncertain and partially observable environments. Partially observable Markov decision processes (POMDPs) provide a…
In this paper, we consider networks of static sensors with integrated sensing and communication capabilities. The goal of the sensors is to propagate their collected information to every other agent in the network and possibly a human…
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…
Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF can be constructed. This paper draws connections between…
The observable behavior of a system usually carries useful information about its internal state, properties, and potential future behaviors. In this paper, we introduce configuration monitoring to determine an unknown configuration of a…
Signal Temporal Logic (STL) has gained popularity in recent years as a specification language for cyber-physical systems, especially in robotics. Beyond being expressive and easy to understand, STL is appealing because the synthesis…
Converting high-level tasks described by natural language into formal specifications like Linear Temporal Logic (LTL) is a key step towards providing formal safety guarantees over cyber-physical systems (CPS). While the compliance of the…
Large Language models (LLMs) have shown promise as generators of symbolic control policies, producing interpretable program-like representations through iterative search. However, these models are not capable of separating the functional…
Achieving timing closure and design-specific optimizations in FPGA-targeted High-Level Synthesis (HLS) remains a significant challenge due to the complex interaction between architectural constraints, resource utilization, and the absence…
In the classical synthesis problem, we are given an LTL formula psi over sets of input and output signals, and we synthesize a transducer that realizes psi. One weakness of automated synthesis in practice is that it pays no attention to the…
In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnected systems. By leveraging the idea of funnel-based control,…
Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and control synthesis methods are limited with respect to the…
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…
System level synthesis is a promising approach that formulates structured optimal controller synthesis problems as convex problems. This work solves the distributed linear-quadratic regulator problem under communication constraints directly…
We introduce the concept of structured synthesis for Markov decision processes where the structure is induced from finitely many pre-specified options for a system configuration. The resulting synthesis problem is in general a nonlinear…
We derive novel criteria for designing stabilizing dynamic output-feedback controllers for a class of aperiodic impulsive systems subject to a range dwell-time condition. Our synthesis conditions are formulated as clock-dependent linear…
Reactive synthesis addresses the problem of generating a controller for a temporal specification in an adversarial environment; it was typically studied for LTL. Driven by applications ranging from AI to business process management, LTL…
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…