Related papers: Control with Probabilistic Signal Temporal Logic

Signal Temporal Logic (STL) is a formalism used to rigorously specify requirements of cyberphysical systems (CPS), i.e., systems mixing digital or discrete components in interaction with a continuous environment or analog com- ponents. STL…

The combination of Large Language Models (LLMs), systematic evaluation, and evolutionary algorithms has enabled breakthroughs in combinatorial optimization and scientific discovery. We propose to extend this powerful combination to the…

We present a novel method for imitation learning for control requirements expressed using Signal Temporal Logic (STL). More concretely we focus on the problem of training a neural network to imitate a complex controller. The learning…

This paper presents control strategies based on time-varying convergent higher order control barrier functions for a class of leader-follower multi-agent systems under signal temporal logic (STL) tasks. Each agent is assigned a local STL…

We extend previous work on symbolic self-triggered control for non-deterministic continuous-time nonlinear systems without stability assumptions to a larger class of specifications. Our goal is to synthesise a controller for two objectives:…

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.…

Real-world robotic systems must comply with safety requirements in the presence of uncertainty. To define and measure requirement adherence, Signal Temporal Logic (STL) offers a mathematically rigorous and expressive language. However,…

Synthesis from linear temporal logic (LTL) specifications provides assured controllers for systems operating in stochastic and potentially adversarial environments. Automatic synthesis tools, however, require a model of the environment to…

Temporal logic is an important tool for specifying complex behaviors of systems. It can be used to define properties for verification and monitoring, as well as goals for synthesis tools, allowing users to specify rich missions and tasks.…

Signal Temporal Logic (STL) has emerged as an expressive language for reasoning intricate planning objectives. However, existing STL-based methods often assume full observation and known dynamics, which imposes constraints on real-world…

In this work, we propose a novel method to find temporal properties that lead to the unexpected behaviors from labeled dataset. We express these properties in past time Signal Temporal Logic (ptSTL). First, we present a novel approach for…

Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…

Many Cyber Physical System (CPS) work in a safety-critical environment, where correct execution, reliability and trustworthiness are essential. Signal Temporal Logic (STL) provides a formal framework for checking safety-critical CPS.…

In this paper, we propose a novel formalism called Probabilistic Obstruction Temporal Logic (POTL), which extends Obstruction Logic (OL) by incorporating probabilistic elements. POTL provides a robust framework for reasoning about the…

Optimizing high-level mission planning constraints is traditionally solved in exponential time and requires to split the problem into several ones, making the connections between them a convoluted task. This paper aims at generalizing…

We design controllers from formal specifications for positive discrete-time monotone systems that are subject to bounded disturbances. Such systems are widely used to model the dynamics of transportation and biological networks. The…

Natural language is an intuitive way for humans to communicate tasks to a robot. While natural language (NL) is ambiguous, real world tasks and their safety requirements need to be communicated unambiguously. Signal Temporal Logic (STL) is…

We investigate how formal temporal logic specifications can enhance the safety and robustness of reinforcement learning (RL) control in aerospace applications. Using the open source AeroBench F-16 simulation benchmark, we train a Proximal…

In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…

This paper studies the synthesis of control policies for an agent that has to satisfy a temporal logic specification in a partially observable environment, in the presence of an adversary. The interaction of the agent (defender) with the…