Related papers: Maximum Realizability for Linear Temporal Logic Sp…
Linear Temporal Logic (LTL) is the de-facto standard temporal logic for system specification, whose foundational properties have been studied for over five decades. Safety and cosafety properties define notable fragments of LTL, where a…
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…
This paper considers robot motion planning under temporal logic constraints in probabilistic maps obtained by semantic simultaneous localization and mapping (SLAM). The uncertainty in a map distribution presents a great challenge for…
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…
We introduce a new approach for the synthesis of Mealy machines from specifications in linear-time temporal logic (LTL), where the number of cycles in the state graph of the implementation is limited by a given bound. Bounding the number of…
This paper presents a smooth parameterization of continuous-time Signal Temporal Logic (CT-STL) specifications for nonconvex trajectory optimization that is sound and complete up to the accuracy of the underlying numerical integration…
Signal Temporal Logic (STL) has gained popularity in recent years as a specification language for cyber-physical systems, especially in robotics. Beyond being expressive and easy to understand, STL is appealing because the synthesis…
This paper proposes a new highly scalable and asymptotically optimal control synthesis algorithm from linear temporal logic specifications, called $\text{STyLuS}^{*}$ for large-Scale optimal Temporal Logic Synthesis, that is designed to…
Motion planning of an autonomous system with high-level specifications has wide applications. However, research of formal languages involving timed temporal logic is still under investigation. Furthermore, many existing results rely on a…
In this paper, we consider a temporal logic planning problem in which the objective is to find an infinite trajectory that satisfies an optimal selection from a set of soft specifications expressed in linear temporal logic (LTL) while…
In this paper, we consider the notion of resilience of a dynamical system, defined by the maximum disturbance a controlled dynamical system can withstand while satisfying given temporal logic specifications. Given a dynamical system and a…
Reactive synthesis from high-level specifications that combine hard constraints expressed in Linear Temporal Logic LTL with soft constraints expressed by discounted-sum (DS) rewards has applications in planning and reinforcement learning.…
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…
Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…
The reactive synthesis problem is to find a finite-state controller that satisfies a given temporal-logic specification regardless of how its environment behaves. Developing a formal specification is a challenging and tedious task and…
There are spatio-temporal rules that dictate how robots should operate in complex environments, e.g., road rules govern how (self-driving) vehicles should behave on the road. However, seamlessly incorporating such rules into a robot control…
Given a multi-modal dynamical system, optimal switching logic synthesis involves generating the conditions for switching between the system modes such that the resulting hybrid system satisfies a quantitative specification. We formalize and…
Learning to control an unknown dynamical system with respect to high-level temporal specifications is an important problem in control theory. We present the first regret-free online algorithm for learning a controller for linear temporal…
Reactive synthesis builds a system from a specification given as a temporal logic formula. Traditionally, reactive synthesis is defined for systems with Boolean input and output variables. Recently, new theories and techniques have been…
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…