Related papers: Continuous-time Signal Temporal Logic Planning wit…
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…
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…
This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied…
Automatic synthesis from temporal logic specifications is an attractive alternative to manual system design, due to its ability to generate correct-by-construction implementations from high-level specifications. Due to the high complexity…
Temporal logic inference is the process of extracting formal descriptions of system behaviors from data in the form of temporal logic formulas. The existing temporal logic inference methods mostly neglect uncertainties in the data, which…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…
This paper introduces the safety controller architecture as a runtime assurance mechanism for system specifications expressed as safety properties in Linear Temporal Logic (LTL). The safety controller has three fundamental components: a…
This paper introduces time window temporal logic (TWTL), a rich expressivity language for describing various time bounded specifications. In particular, the syntax and semantics of TWTL enable the compact representation of serial tasks,…
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…
A motion planning methodology based on the combination of Control Barrier Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This methodology allows task completion at any point within a specified time interval,…
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…
This project introduces a hierarchical planner integrating Linear Temporal Logic (LTL) constraints with natural language prompting for robot motion planning. The framework decomposes maps into regions, generates directed graphs, and…
This paper introduces a predictive control barrier function (PCBF) framework for enforcing state constraints in discrete-time systems with unknown relative degree, which can be caused by input delays or unmodeled input dynamics. Existing…
Motivated by the recent interest in risk-aware control, we study a continuous-time control synthesis problem to bound the risk that a stochastic linear system violates a given specification. We use risk signal temporal logic as a…
Temporal logics provide a formalism for expressing complex system specifications. A large body of literature has addressed the verification and the control synthesis problem for deterministic systems under such specifications. For…
Linear temporal logic (LTL) has recently been adopted as a powerful formalism for specifying complex, temporally extended tasks in multi-task reinforcement learning (RL). However, learning policies that efficiently satisfy arbitrary…
We develop a timeout based extension of propositional linear temporal logic (which we call TLTL) to specify timing properties of timeout based models of real time systems. TLTL formulas explicitly refer to a running global clock together…
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…
In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the…
We investigate the task and motion planning problem for dynamical systems under signal temporal logic (STL) specifications. Existing works on STL control synthesis mainly focus on generating plans that satisfy properties over a single…