Related papers: Hyperproperties for Robotics: Planning via HyperLT…
This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a top-down hierarchical decomposition of the control problem involving…
Verification of temporal logic properties plays a crucial role in proving the desired behaviors of hybrid systems. In this paper, we propose an interval method for verifying the properties described by a bounded linear temporal logic. We…
While Temporal Logic provides a rigorous verification framework for robotics, it typically operates on trajectory-level signals and does not natively represent the object-centric geometric relations that are central to manipulation.…
We consider an extension of linear-time temporal logic (LTL) with both local and remote data constraints interpreted over a concrete domain. This extension is a natural extension of constraint LTL and the Temporal Logic of Repeating Values,…
Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…
With the advent of large foundation model based planning, there is a dire need to ensure their output aligns with the stakeholder's intent. When these models are deployed in the real world, the need for alignment is magnified due to the…
This paper presents a neurosymbolic framework to solve motion planning problems for mobile robots involving temporal goals. The temporal goals are described using temporal logic formulas such as Linear Temporal Logic (LTL) to capture…
This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end…
Propositional Linear Temporal Logic (LTL) is a popular formalism for specifying desirable requirements and security and privacy policies for software, networks, and systems. Yet expressing such requirements and policies in LTL remains…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
This paper studies the control synthesis of motion planning subject to uncertainties. The uncertainties are considered in robot motions and environment properties, giving rise to the probabilistic labeled Markov decision process (PL-MDP). A…
Security properties of real-time systems often involve reasoning about hyper-properties, as opposed to properties of single executions or trees of executions. These hyper-properties need to additionally be expressive enough to reason about…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", to integrate signal temporal logic (STL) specifications into efficient mixed-binary linear programmings. In this framework, temporal…
Synthesizing a program that realizes a logical specification is a classical problem in computer science. We examine a particular type of program synthesis, where the objective is to synthesize a strategy that reacts to a potentially…
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:…
Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…
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…
This paper introduces time window temporal logic (TWTL), a rich expressivity language for describing various time bounded specifications. In particular, the syntax and semantics of TWTL enable the compact representation of serial tasks,…
We present a method to generate a robot control strategy that maximizes the probability to accomplish a task. The task is given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied at the regions of a…