Related papers: Hyperproperties for Robotics: Planning via HyperLT…
In this paper we introduce Behavioral QLTL, which is a ``behavioral'' variant of linear-time temporal logic on infinite traces with second-order quantifiers. Behavioral QLTL is characterized by the fact that the functions that assign the…
We propose an approach to formally specifying the behavioral properties of systems that rely on a perception model for interactions with the physical world. The key idea is to introduce embeddings -- mathematical representations of a…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…
Autonomous agents rely on automated planning algorithms to achieve their objectives. Simulation-based planning offers a significant advantage over declarative models in modelling complex environments. However, relying solely on a planner…
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 signal temporal logic (STL)…
In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…
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…
Many modern autonomous systems, particularly multi-agent systems, are time-critical and need to be robust against timing uncertainties. Previous works have studied left and right time robustness of signal temporal logic specifications by…
Metric Temporal Logic can express temporally evolving properties with time-critical constraints or time-triggered constraints for real-time systems. This paper extends the Metric Interval Temporal Logic with a distribution eventuality…
Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they have shown a lack of knowledge and effectiveness in planning…
Linear temporal logic (LTL) is a specification language for finite sequences (called traces) widely used in program verification, motion planning in robotics, process mining, and many other areas. We consider the problem of learning LTL…
In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task…
In environments like offices, the duration of a robot's navigation between two locations may vary over time. For instance, reaching a kitchen may take more time during lunchtime since the corridors are crowded with people heading the same…
Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…
In this paper, we propose a model-free reinforcement learning method to synthesize control policies for motion planning problems with continuous states and actions. The robot is modelled as a labeled discrete-time Markov decision process…
To make robots accessible to a broad audience, it is critical to endow them with the ability to take universal modes of communication, like commands given in natural language, and extract a concrete desired task specification, defined using…
Hyperproperties have received increasing attention in the last decade due to their importance e.g. for security analyses. Past approaches have focussed on synchronous analyses, i.e. techniques in which different paths are compared…
This paper proposes a new highly scalable and asymptotically optimal control synthesis algorithm from linear temporal logic specifications, called $\text{STyLuS}^{*}$ for large-Scale optimal Temporal Logic Synthesis, that is designed to…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…