Related papers: Synthesis of coordination programs from linear tem…
A key challenge for reinforcement learning is solving long-horizon planning problems. Recent work has leveraged programs to guide reinforcement learning in these settings. However, these approaches impose a high manual burden on the user…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
Perception-related tasks often arise in autonomous systems operating under partial observability. This work studies the problem of synthesizing optimal policies for complex perception-related objectives in environments modeled by partially…
Given a specification of linear-time temporal logic interpreted over finite traces (LTLf), the reactive synthesis problem asks to find a finitely-representable, terminating controller that reacts to the uncontrollable actions of an…
Reactive synthesis is an automated procedure to obtain a correct-by-construction reactive system from a given specification. GR(1) is a well-known fragment of linear temporal logic (LTL) where synthesis is possible using a polynomial…
In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a…
Reactive synthesis is an automatic way to translate a human intention expressed in some logic into a system of some kind. This thesis has two parts, devoted to logic and to systems. In Part I, we develop two new approaches to CTL*…
This paper introduces a general approach for synthesizing procedural models of the state-transitions of a given discrete system. The approach is general in that it accepts different target languages for modeling the state-transitions of a…
This paper addresses the synthesis of reactive systems that enforce hard constraints while optimizing for quality-based soft constraints. We build on recent advancements in combining reactive synthesis with example-based guidance to handle…
We develop new methods to statically bound the resources needed for the execution of systems of concurrent, interactive threads. Our study is concerned with a \emph{synchronous} model of interaction based on cooperative threads whose…
We study the distributed synthesis of policies for multi-agent systems to perform \emph{spatial-temporal} tasks. We formalize the synthesis problem as a \emph{factored} Markov decision process subject to \emph{graph temporal logic}…
Animating human-scene interactions such as pick-and-place tasks in cluttered, complex layouts is a challenging task, with objects of a wide variation of geometries and articulation under scenarios with various obstacles. The main difficulty…
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…
We propose a method to synthesize a parameterized infinite-state systems that can be instantiated for different parameter values. The specification is given in a parameterized temporal logic that allows for data variables as well as…
In formal synthesis of reactive systems an implementation of a system is automatically constructed from its formal specification. The great advantage of synthesis is that the resulting implementation is correct by construction; therefore…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
We introduce logical synchrony, a framework that allows distributed computing to be coordinated as tightly as in synchronous systems without the distribution of a global clock or any reference to universal time. We develop a model of events…
Timed regular expressions serve as a formalism for specifying real-time behaviors of Cyber-Physical Systems. In this paper, we consider the synthesis of timed regular expressions, focusing on generating a timed regular expression consistent…
As people coordinate in daily interactions, they engage in different patterns of behavior to achieve successful outcomes. This includes both synchrony - the temporal coordination of the same behaviors at the same time - and complementarity…