Related papers: Model Predictive Control for Signal Temporal Logic…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
We present a framework to synthesize control policies for nonlinear dynamical systems from complex temporal constraints specified in a rich temporal logic called Signal Temporal Logic (STL). We propose a novel smooth and differentiable STL…
Online monitoring aims to evaluate or to predict, at runtime, whether or not the behaviors of a system satisfy some desired specification. It plays a key role in safety-critical cyber-physical systems. In this work, we propose a new…
In this paper, we investigate the problem of Model Predictive Control (MPC) of dynamic systems for high-level specifications described by Signal Temporal Logic (STL) formulae. Recent works show that MPC has the great potential in handling…
Formal control of cyber-physical systems allows for synthesis of control strategies from rich specifications such as temporal logics. However, the classes of systems that the formal approaches can be applied to is limited due to the…
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…
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…
We introduce a metric that can quantify the temporal relaxation of Signal Temporal Logic (STL) specifications and facilitate resilient control synthesis in the face of infeasibilities. The proposed metric quantifies a cumulative notion of…
Signal Temporal Logic (STL) is a widely adopted specification language in cyber-physical systems for expressing critical temporal requirements, such as safety conditions and response time. However, STL's expressivity is not sufficient to…
To express temporal properties of dense-time real-valued signals, the Signal Temporal Logic (STL) has been defined by Maler et al. The work presented a monitoring algorithm deciding the satisfiability of STL formulae on finite discrete…
This paper investigates the online monitoring problem for cyber-physical systems under signal temporal logic (STL) specifications. The objective is to design an online monitor that evaluates system correctness at runtime based on partial…
Autonomous agents often operate in uncertain environments where their decisions are made based on beliefs over states of targets. We are interested in controller synthesis for complex tasks defined over belief spaces. Designing such…
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…
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…
Controller synthesis for hybrid systems that satisfy temporal specifications expressing various system properties is a challenging problem that has drawn the attention of many researchers. However, making the assumption that such temporal…
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…
Signal Temporal Logic (STL) is a convenient formalism to express bounded horizon properties of autonomous critical systems. STL extends LTL to real-valued signals and associates a non-singleton bound interval to each temporal operators. In…
Trajectory planning is a critical process that enables autonomous systems to safely navigate complex environments. Signal temporal logic (STL) specifications are an effective way to encode complex temporally extended objectives for…
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…
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…