Related papers: Automatic Trajectory Synthesis for Real-Time Tempo…
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)…
This paper presents a smooth parameterization of continuous-time Signal Temporal Logic (CT-STL) specifications for nonconvex trajectory optimization that is sound and complete up to the accuracy of the underlying numerical integration…
Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-dimensional system dynamics.…
Automatic synthesis from linear temporal logic (LTL) specifications is widely used in robotic motion planning, control of autonomous systems, and load distribution in power networks. A common specification pattern in such applications…
Signal Temporal Logic (STL) has gained popularity in recent years as a specification language for cyber-physical systems, especially in robotics. Beyond being expressive and easy to understand, STL is appealing because the synthesis…
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…
Automatic synthesis from temporal logic specifications is an attractive alternative to manual system design, due to its ability to generate correct-by-construction implementations from high-level specifications. Due to the high complexity…
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…
Trajectory planning is a critical process that enables autonomous systems to safely navigate complex environments. Signal temporal logic (STL) specifications are an effective way to encode complex temporally extended objectives for…
In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's…
This paper studies the online control synthesis problem for uncertain discrete-time systems subject to signal temporal logic (STL) specifications. Different from existing techniques, this work proposes an approach based on STL, reachability…
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…
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…
Signal Temporal Logic (STL) is a powerful specification language for describing complex temporal behaviors of continuous signals, making it well-suited for high-level robotic task descriptions. However, generating executable plans for STL…
In many multirobot applications, planning trajectories in a way to guarantee that the collective behavior of the robots satisfies a certain high-level specification is crucial. Motivated by this problem, we introduce counting temporal…
While most of the current synthesis algorithms only focus on correctness-by-construction, ensuring robustness has remained a challenge. Hence, in this paper, we address the robust-by-construction synthesis problem by considering the…
A challenging problem for autonomous systems is to synthesize a reactive controller that conforms to a set of given correctness properties. Linear temporal logic (LTL) provides a formal language to specify the desired behavioral properties…
We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS)…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…
Temporal synthesis is the automated design of a system that interacts with an environment, using the declarative specification of the system's behavior. A popular language for providing such a specification is Linear Temporal Logic, or LTL.…