Related papers: Efficient Automata-based Planning and Control unde…
This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local…
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…
Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely used in cyber-physical systems. On the other hand, Control…
This work presents a novel co-design strategy that integrates trajectory planning and control to handle STL-based tasks in autonomous robots. The method consists of two phases: $(i)$ learning spatio-temporal motion primitives to encapsulate…
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…
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…
Most control synthesis methods under temporal logic properties require a model of the system, however, identifying such a model can be a challenging task. In this work, we develop a direct data-driven control synthesis method for temporal…
This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level logical and timing requirements while respecting low-level…
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…
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…
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…
Motion planning classically concerns the problem of accomplishing a goal configuration while avoiding obstacles. However, the need for more sophisticated motion planning methodologies, taking temporal aspects into account, has emerged. To…
Autonomous systems embedded with machine learning modules often rely on deep neural networks for classifying different objects of interest in the environment or different actions or strategies to take for the system. Due to the…
We present a new approach for the design of a synthetic biological circuit whose behaviour is specified in terms of signal temporal logic (STL) formulae. We first show how to characterise with STL formulae the input/output behaviour of…
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…
We design controllers from formal specifications for positive discrete-time monotone systems that are subject to bounded disturbances. Such systems are widely used to model the dynamics of transportation and biological networks. The…
Discrete-time stochastic systems with continuous spaces are hard to verify and control, even with MDP abstractions due to the curse of dimensionality. We propose an abstraction-based framework with robust dynamic programming mappings that…
This paper studies an optimal control problem for continuous-time stochastic systems subject to reachability objectives specified in a subclass of metric interval temporal logic specifications, a temporal logic with real-time constraints.…
A framework for the event-triggered control synthesis under signal temporal logic (STL) tasks is proposed. In our previous work, a continuous-time feedback control law was designed, using the prescribed performance control technique, to…
Automated temporal planning is the technology of choice when controlling systems that can execute more actions in parallel and when temporal constraints, such as deadlines, are needed in the model. One limitation of several action-based…