Related papers: A Temporal Logic-Based Hierarchical Network Connec…
Real-time and human-interpretable decision-making in cyber-physical systems is a significant but challenging task, which usually requires predictions of possible future events from limited data. In this paper, we introduce a…
An optimal control law for networked control systems with a discrete-time linear time-invariant (LTI) system as plant and networks between sensor and controller as well as between controller and actuator is proposed. This controller is…
Motivated by the recent interest in formal methods-based control of multi-agent systems, we adopt a bottom-up approach. Each agent is subject to a local signal temporal logic task that may depend on other agents behavior. These dependencies…
In this paper, a cooperative Linear Quadratic Regulator (LQR) problem is investigated for multi-input systems, where each input is generated by an agent in a network. The input matrices are different and locally possessed by the…
We propose a policy search approach to learn controllers from specifications given as Signal Temporal Logic (STL) formulae. The system model, which is unknown but assumed to be an affine control system, is learned together with the control…
With the rapid growth of time-critical applications in smart grid, robotics, autonomous vehicles, and industrial automation, demand for high reliability, low latency and strictly bounded jitter is sharply increasing. High-precision time…
Simple Temporal Networks (STNs) provide a powerful and general tool for representing conjunctions of maximum delay constraints over ordered pairs of temporal variables. In this paper we introduce Hyper Temporal Networks (HyTNs), a strict…
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…
Ultra-reliable low latency communications (URLLC) service is envisioned to enable use cases with strict reliability and latency requirements in 5G. One approach for enabling URLLC services is to leverage Reinforcement Learning (RL) to…
Temporal logic can be used to formally specify autonomous agent goals, but synthesizing planners that guarantee goal satisfaction can be computationally prohibitive. This paper shows how to turn goals specified using a subset of finite…
The fundamental idea of this work is to synthesize reactive controllers such that closed-loop execution trajectories of the system satisfy desired specifications that ensure correct system behaviors, while optimizing a desired performance…
This article presents MAPS$^2$ : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either…
In this paper, we present a method for optimal control synthesis of a plant that interacts with a set of agents in a graph-like environment. The control specification is given as a temporal logic statement about some properties that hold at…
Several task and motion planning algorithms have been proposed recently to design paths for mobile robot teams with collaborative high-level missions specified using formal languages, such as Linear Temporal Logic (LTL). However, the…
Temporal reasoning and planning are essential capabilities for large language models (LLMs), yet most existing benchmarks evaluate them in isolation and under limited forms of complexity. To address this gap, we introduce the Temporal…
Large Language Models (LLMs) have shown impressive performance in mathematical reasoning tasks when guided by Chain-of-Thought (CoT) prompting. However, they tend to produce highly confident yet incorrect outputs, which poses significant…
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…
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…
This paper addresses planning problems for mobile robots. We consider missions that require accomplishing multiple high-level sub-tasks, expressed in natural language (NL), in a temporal and logical order. To formally define the mission, we…
We propose a timed and soft extension of Concurrent Constraint Programming. The time extension is based on the hypothesis of bounded asynchrony: the computation takes a bounded period of time and is measured by a discrete global clock.…