Related papers: An MILP Approach for Real-time Optimal Controller …
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…
Given a Markov decision process (MDP) and a linear-time ($\omega$-regular or LTL) specification, the controller synthesis problem aims to compute the optimal policy that satisfies the specification. More recently, problems that reason over…
In this paper, we investigate the controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…
Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. This work addresses controller synthesis for continuous-time systems subject to STL…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the…
It is a well known fact that finite time optimal controllers, such as MPC does not necessarily result in closed loop stable systems. Within the MPC community it is common practice to add a final state constraint and/or a final state penalty…
In many applications, the integrals and derivatives of signals carry valuable information (e.g., cumulative success over a time window, the rate of change) regarding the behavior of the underlying system. In this paper, we extend the…
We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these…
We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world…
In many multirobot applications, planning trajectories in a way to guarantee that the collective behavior of the robots satisfies a certain high-level specification is crucial. Motivated by this problem, we introduce counting temporal…
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…
We propose a method for efficient training of Q-functions for continuous-state Markov Decision Processes (MDPs) such that the traces of the resulting policies satisfy a given Linear Temporal Logic (LTL) property. LTL, a modal logic, can…
Executing a Golog program on an actual robot typically requires additional steps to account for hardware or software details of the robot platform, which can be formulated as constraints on the program. Such constraints are often temporal,…
Autonomous systems must solve motion planning problems subject to increasingly complex, time-sensitive, and uncertain missions. These problems often involve high-level task specifications, such as temporal logic or chance constraints, which…
In this paper, we consider the problem of synthesizing a controller in the presence of uncertainty such that the resulting closed-loop system satisfies certain hard constraints while optimizing certain (soft) performance objectives. We…
In this paper we introduce a class of Linear Temporal Logic (LTL) specifications for which the problem of synthesizing controllers can be solved in polynomial time. The new class of specifications is an LTL fragment that we term Mode-Target…
This paper studies the controller synthesis problem for Linear Temporal Logic (LTL) specifications using (constrained) zonotope techniques. First, we implement (constrained) zonotope techniques to partition the state space and further to…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a…
Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…