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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…

To effectively analyze and design cyberphysical systems (CPS), designers today have to combat the data deluge problem, i.e., the burden of processing intractably large amounts of data produced by complex models and experiments. In this…

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…

Signal Temporal Logic (STL) is an expressive formal language for specifying spatio-temporal requirements over real-valued, real-time signals. It has been widely used for the verification and synthesis of autonomous systems and…

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…

Temporal synthesis is the automated design of a system that interacts with an environment, using the declarative specification of the system's behavior. A popular language for providing such a specification is Linear Temporal Logic, or LTL.…

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…

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…

The integration of cyber-physical systems (CPS) into everyday life raises the critical necessity of ensuring their safety and reliability. An important step in this direction is requirement mining, i.e. inferring formally specified system…

Researchers have previously proposed augmenting Signal Temporal Logic (STL) with the value freezing operator in order to express engineering properties that cannot be expressed in STL. This augmented logic is known as STL*. The previous…

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…

Real-time and human-interpretable decision-making in cyber-physical systems is a significant but challenging task, which usually requires predictions of possible future events from limited data. In this paper, we introduce a…

Formulating the intended behavior of a dynamic system can be challenging. Signal temporal logic (STL) is frequently used for this purpose due to its suitability in formalizing comprehensible, modular, and versatile spatiotemporal…

We propose a new robustness score for continuous-time Signal Temporal Logic (STL) specifications. Instead of considering only the most severe point along the evolution of the signal, we use average scores to extract more information from…

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…

Large Language Models (LLMs) have shown impressive performance in mathematical reasoning tasks when guided by Chain-of-Thought (CoT) prompting. However, they tend to produce highly confident yet incorrect outputs, which poses significant…

We reformulate the signal temporal logic (STL) synthesis problem as a maximum a-posteriori (MAP) inference problem. To this end, we introduce the notion of random STL~(RSTL), which extends deterministic STL with random predicates. This new…

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…

Ensuring that agents satisfy safety specifications can be crucial in safety-critical environments. While methods exist for controller synthesis with safe temporal specifications, most existing methods restrict safe temporal specifications…

In this paper, we investigate the control synthesis problem for Signal Temporal Logic (STL) specifications in the presence of uncontrollable agents. Existing works mainly address this problem in a robust control setting by assuming the…