Related papers: Automatic Trajectory Synthesis for Real-Time Tempo…
We consider the problem of automatically synthesizing a hybrid controller for non-linear dynamical systems which ensures that the closed-loop fulfills an arbitrary \emph{Linear Temporal Logic} specification. Moreover, the specification may…
Reactive synthesis is the process of using temporal logic specifications in LTL to generate correct controllers, but its use has been restricted to Boolean specifications. Recently, a Boolean abstraction technique allows to translate LTL T…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
A modern approach to engineering correct-by-construction systems is to synthesize them automatically from formal specifications. Oftentimes, a system can only satisfy its guarantees if certain environment assumptions hold, which motivates…
We take a divide and conquer approach to design controllers for reachability problems given large-scale linear systems with polyhedral constraints on states, controls, and disturbances. Such systems are made of small subsystems with coupled…
Linear temporal logic (LTL) is a specification language for finite sequences (called traces) widely used in program verification, motion planning in robotics, process mining, and many other areas. We consider the problem of learning LTL…
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…
We propose a counterexample-guided inductive synthesis framework for the formal synthesis of closed-form sampled-data controllers for nonlinear systems to meet STL specifications over finite-time trajectories. Rather than stating the STL…
This paper focuses on synthesizing control policies for discrete-time stochastic control systems together with a lower bound on the probability that the systems satisfy the complex temporal properties. The desired properties of the system…
Linear temporal logic (LTL) has recently been adopted as a powerful formalism for specifying complex, temporally extended tasks in multi-task reinforcement learning (RL). However, learning policies that efficiently satisfy arbitrary…
Signal temporal logic (STL) provides a powerful, flexible framework for specifying complex autonomy tasks; however, existing methods for planning based on STL specifications have difficulty scaling to long-horizon tasks and are not robust…
Multi-vehicle trajectory planning is a non-convex problem that becomes increasingly difficult in dense environments due to the rapid growth of collision constraints. Efficient exploration of feasible behaviors and resolution of tight…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size…
Developing critical components, such as mission controllers or embedded systems, is a challenging task. Reactive synthesis is a technique to automatically produce correct controllers. Given a high-level specification written in LTL,…
This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate STL constraints as a robust optimization problem (ROP) and…
Many systems are naturally modeled as Markov Decision Processes (MDPs), combining probabilities and strategic actions. Given a model of a system as an MDP and some logical specification of system behavior, the goal of synthesis is to find a…
In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnected systems. By leveraging the idea of funnel-based control,…
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…
In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…