Related papers: Control with Probabilistic Signal Temporal Logic
Many complex scenarios require the coordination of agents possessing unique points of view and distinct semantic commitments. In response, standpoint logic (SL) was introduced in the context of knowledge integration, allowing one to reason…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…
We consider systems under uncertainty whose dynamics are partially unknown. Our aim is to study satisfaction of temporal logic properties by trajectories of such systems. We express these properties as signal temporal logic formulas and…
Signal Temporal Logic (STL) inference seeks to extract human-interpretable rules from time-series data, but existing methods lack formal confidence guarantees for the inferred rules. Conformal prediction (CP) is a technique that can provide…
In this paper we study the problem of synthesizing optimal control policies for uncertain continuous-time nonlinear systems from syntactically co-safe linear temporal logic (scLTL) formulas. We formulate this problem as a sequence of…
We consider the problem of steering a system with unknown, stochastic dynamics to satisfy a rich, temporally layered task given as a signal temporal logic formula. We represent the system as a Markov decision process in which the states are…
In this paper, we propose a control synthesis method for signal temporal logic (STL) specifications with neural networks (NNs). Most of the previous works consider training a controller for only a given STL specification. These approaches,…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
Synthesizing a program that realizes a logical specification is a classical problem in computer science. We examine a particular type of program synthesis, where the objective is to synthesize a strategy that reacts to a potentially…
This paper studies an optimal control problem for continuous-time stochastic systems subject to reachability objectives specified in a subclass of metric interval temporal logic specifications, a temporal logic with real-time constraints.…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under the presence of uncertainties. We model the motion of each of the $N$ agents in the environment as a Markov Decision Process (MDP) and we…
In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…
We propose a framework based on Recurrent Neural Networks (RNNs) to determine an optimal control strategy for a discrete-time system that is required to satisfy specifications given as Signal Temporal Logic (STL) formulae. RNNs can store…
Much of the recent work developing formal methods techniques to specify or learn the behavior of autonomous systems is predicated on a belief that formal specifications are interpretable and useful for humans when checking systems. Though…
This paper proposes a reinforcement learning method for controller synthesis of autonomous systems in unknown and partially-observable environments with subjective time-dependent safety constraints. Mathematically, we model the system…
We develop a novel decentralized control method for a network of perturbed linear systems with dynamical couplings subject to Signal Temporal Logic (STL) specifications. We first transform the STL requirements into set containment problems…
In the timeline-based approach to planning, originally born in the space sector, 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…
This article presents MAPS$^2$ : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either…
Researchers have previously proposed augmenting Signal Temporal Logic (STL) with the value freezing operator in order to express engineering properties that cannot be expressed in STL. This augmented logic is known as STL*. The previous…
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…