Related papers: A Temporal Logic-Based Hierarchical Network Connec…
Multi-agent systems can be extremely efficient when solving a team-wide task in a concurrent manner. However, without proper synchronization, the correctness of the combined behavior is hard to guarantee, such as to follow a specific…
We propose a framework for generating a signal control policy for a traffic network of signalized intersections to accomplish control objectives expressible using linear temporal logic. By applying techniques from model checking and formal…
This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
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…
The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents' a-priori unknown behavior. Existing works have considered the problem where either all agents are…
Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…
Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas…
We propose algorithms for performing model checking and control synthesis for discrete-time uncertain systems under linear temporal logic (LTL) specifications. We construct temporal logic trees (TLT) from LTL formulae via reachability…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the…
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…
We develop a novel decentralized control method for a network of perturbed linear systems with dynamical couplings subject to Signal Temporal Logic (STL) specifications. We first transform the STL requirements into set containment problems…
In this paper, we investigate the controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…
This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…
We propose a framework based on Recurrent Neural Networks (RNNs) to determine an optimal control strategy for a discrete-time system that is required to satisfy specifications given as Signal Temporal Logic (STL) formulae. RNNs can store…
Machine learning techniques using neural networks have achieved promising success for time-series data classification. However, the models that they produce are challenging to verify and interpret. In this paper, we propose an explainable…
This paper presents a novel framework for decentralized monitoring of Linear Temporal Logic (LTL), under the situation where processes are synchronous, uniform (i.e. all processes are peers), and the formula is represented as a tableau. The…
We present a framework to synthesize control policies for nonlinear dynamical systems from complex temporal constraints specified in a rich temporal logic called Signal Temporal Logic (STL). We propose a novel smooth and differentiable STL…
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 addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local…