Related papers: An MILP Approach for Real-time Optimal Controller …
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…
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…
In this paper, we develop a method to automatically generate a control policy for a dynamical system modeled as a Markov Decision Process (MDP). The control specification is given as a Linear Temporal Logic (LTL) formula over a set of…
A challenging problem for autonomous systems is to synthesize a reactive controller that conforms to a set of given correctness properties. Linear temporal logic (LTL) provides a formal language to specify the desired behavioral properties…
We present a bounded model checking algorithm for signal temporal logic (STL) that exploits mixed-integer linear programming (MILP). A key technical element is our novel MILP encoding of the STL semantics; it follows the idea of stable…
In this work, we address the problem of control synthesis for a homogeneous team of robots given a global temporal logic specification and formal user preferences for relaxation in case of infeasibility. The relaxation preferences are…
We investigate the problem of optimal control synthesis for Markov Decision Processes (MDPs), addressing both qualitative and quantitative objectives. Specifically, we require the system to satisfy a qualitative task specified by a Linear…
The state-of-the-art in optimal control from timed temporal logic specifications, including Metric Temporal Logic (MTL) and Signal Temporal Logic (STL), is based on Mixed-Integer Convex Programming (MICP). The standard MICP approach is…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
In runtime verification, manually formalizing a specification for monitoring system executions is a tedious and error-prone process. To address this issue, we consider the problem of automatically synthesizing formal specifications from…
We address the problem of diagnosing and repairing specifications for hybrid systems formalized in signal temporal logic (STL). Our focus is on the setting of automatic synthesis of controllers in a model predictive control (MPC) framework.…
Metric temporal logic (MTL) provides a formal framework for defining time-dependent mission requirements on autonomous vehicles. However, optimizing control decisions subject to these constraints is often computationally expensive. This…
Automatic synthesis from linear temporal logic (LTL) specifications is widely used in robotic motion planning, control of autonomous systems, and load distribution in power networks. A common specification pattern in such applications…
We present a robust control framework for time-critical systems in which satisfying real-time constraints robustly is of utmost importance for the safety of the system. Signal Temporal Logic (STL) provides a formal means to express a large…
In recent years, Signal Temporal Logic (STL) has gained traction as a practical and expressive means of encoding control objectives for robotic and cyber-physical systems. The state-of-the-art in STL trajectory synthesis is to formulate the…
This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…
Designing tests to evaluate if a given autonomous system satisfies complex specifications is challenging due to the complexity of these systems. This work proposes a flow-based approach for reactive test synthesis from temporal logic…
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…
The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents' a-priori unknown behavior. Existing works have considered the problem where either all agents are…
In this paper, we investigate the problem of synthesizing strategies for linear temporal logic (LTL) specifications that are interpreted over finite traces -- a problem that is central to the automated construction of controllers, robot…