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In recent years, there has been increasing interest in using formal methods-based techniques to safely achieve temporal tasks, such as timed sequence of goals, or patrolling objectives. Such tasks are often expressed in real-time logics…

We show the existence and effective computability of optimal winning strategies for request-response games in case the quality of a play is measured by the limit superior of the mean accumulated waiting times between requests and their…

We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…

This paper considers a distributed stochastic optimization problem where the goal is to minimize the time average of a cost function subject to a set of constraints on the time averages of a related stochastic processes called penalties. We…

In this work, we consider the problem of autonomous racing with multiple agents where agents must interact closely and influence each other to compete. We model interactions among agents through a game-theoretical framework and propose an…

Infinitely repeated games can support cooperative outcomes that are not equilibria in the one-shot game. The idea is to make sure that any gains from deviating will be offset by retaliation in future rounds. However, this model of…

Distributed automata are finite-state machines that operate on finite directed graphs. Acting as synchronous distributed algorithms, they use their input graph as a network in which identical processors communicate for a possibly infinite…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

We establish the existence of optimal scheduling strategies for time-bounded reachability in continuous-time Markov decision processes, and of co-optimal strategies for continuous-time Markov games. Furthermore, we show that optimal control…

Parametric timed automata (PTA) extend timed automata by allowing parameters in clock constraints. Such a formalism is for instance useful when reasoning about unknown delays in a timed system. Using existing techniques, a user can…

In stochastic dynamic environments, team Markov games have emerged as a versatile paradigm for studying sequential decision-making problems of fully cooperative multi-agent systems. However, the optimality of the derived policies is usually…

Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…

Standard algorithms for reachability analysis of timed automata are sensitive to the order in which the transitions of the automata are taken. To tackle this problem, we propose a ranking system and a waiting strategy. This paper discusses…

This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL)…

We revisit a fundamental result in real-time verification, namely that the binary reachability relation between configurations of a given timed automaton is definable in linear arithmetic over the integers and reals. In this paper we give a…

Agents operating in physical environments need to be able to handle delays in the input and output signals since neither data transmission nor sensing or actuating the environment are instantaneous. Shields are correct-by-construction…

Computing tight over-approximation of reach sets of a controlled uncertain dynamical system is a common practice in verification of safety-critical cyber-physical systems (CPS). While several algorithms are available for this purpose, they…

In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…

Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…

This paper investigates the decidability of opacity in timed automata (TA), a property that has been proven to be undecidable in general. First, we address a theoretical gap in recent work by J. An et al. (FM 2024) by providing necessary…