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Control Barrier Functions (CBFs) have been used to enforce safety and task specifications expressed in Signal Temporal Logic (STL). However, existing CBF-STL approaches typically rely on fixed hyperparameters and per-step optimization,…
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…
Machine learning techniques using neural networks have achieved promising success for time-series data classification. However, the models that they produce are challenging to verify and interpret. In this paper, we propose an explainable…
Providing guarantees on the safe operation of robots against edge cases is challenging as testing methods such as traditional Monte-Carlo require too many samples to provide reasonable statistics. Built upon recent advancements in…
Automatic prompt generation plays a crucial role in enabling general-purpose multi-agent systems to perform diverse tasks autonomously. Existing methods typically evaluate prompts based on their immediate task performance, overlooking the…
Many Cyber Physical System (CPS) work in a safety-critical environment, where correct execution, reliability and trustworthiness are essential. Signal Temporal Logic (STL) provides a formal framework for checking safety-critical CPS.…
Temporal logic specifications play an important role in a wide range of software analysis tasks, such as model checking, automated synthesis, program comprehension, and runtime monitoring. Given a set of positive and negative examples,…
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…
We consider distributionally robust optimal control of stochastic linear systems under signal temporal logic (STL) chance constraints when the disturbance distribution is unknown. By assuming that the underlying predicate functions are…
We extend previous work on symbolic self-triggered control for non-deterministic continuous-time nonlinear systems without stability assumptions to a larger class of specifications. Our goal is to synthesise a controller for two objectives:…
Metric Temporal Logic (MTL) and Timed Propositional Temporal Logic (TPTL) extend Linear Temporal Logic (LTL) for real-time constraints, with MTL using time-bounded modalities and TPTL employing freeze quantifiers. Satisfiability for both is…
Natural language is an intuitive way for humans to communicate tasks to a robot. While natural language (NL) is ambiguous, real world tasks and their safety requirements need to be communicated unambiguously. Signal Temporal Logic (STL) is…
In distributed systems with processes that do not share a global clock, \emph{partial synchrony} is achieved by clock synchronization that guarantees bounded clock skew among all applications. Existing solutions for distributed runtime…
Constraint tightening to non-conservatively guarantee recursive feasibility and stability in Stochastic Model Predictive Control is addressed. Stability and feasibility requirements are considered separately, highlighting the difference…
As large language models (LLMs) are increasingly deployed in high-stakes and operational settings, evaluation strategies based solely on aggregate accuracy are often insucient to characterize system reliability. This study proposes a…
We investigate stability analysis and controller design of unknown continuous-time systems under state-feedback with aperiodic sampling, using only noisy data but no model knowledge. We first derive a novel data-dependent parametrization of…
We study feedback motion planning for continuous-time stochastic nonlinear systems under signal temporal logic (STL) specifications. We propose a framework that synthesizes control policies for chance-constrained STL trajectory optimization…
A new measure to characterize stability of complex dynamical systems against large perturbation is suggested, the stability threshold (ST). It quantifies the magnitude of the weakest perturbation capable to disrupt the system and switch it…
Generating realistic simulations is critical for autonomous system applications such as self-driving and human-robot interactions. However, driving simulators nowadays still have difficulty in generating controllable, diverse, and…
Temporal logic is an important tool for specifying complex behaviors of systems. It can be used to define properties for verification and monitoring, as well as goals for synthesis tools, allowing users to specify rich missions and tasks.…