Related papers: Control Synthesis using Signal Temporal Logic Spec…
The use of spatio-temporal logics in control is motivated by the need to impose complex spatial and temporal behavior on dynamical systems, and to control these systems accordingly. Synthesizing correct-by-design control laws is a…
Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement learning methods to find policies which guarantee…
We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of…
In this paper, we investigate the problem of Model Predictive Control (MPC) of dynamic systems for high-level specifications described by Signal Temporal Logic (STL) formulae. Recent works show that MPC has the great potential in handling…
Motivated by the recent interest in formal methods-based control for dynamic robots, we discuss the applicability of prescribed performance control to nonlinear systems subject to signal temporal logic specifications. Prescribed performance…
Temporal logics provide a formalism for expressing complex system specifications. A large body of literature has addressed the verification and the control synthesis problem for deterministic systems under such specifications. For…
Real-world scenarios are characterized by timing uncertainties, e.g., delays, and disturbances. Algorithms with temporal robustness are crucial in guaranteeing the successful execution of tasks and missions in such scenarios. We study…
This paper studies the controller synthesis problem for nonlinear control systems under linear temporal logic (LTL) specifications using zonotope techniques. A local-to-global control strategy is proposed for the desired specification…
In this paper, we investigate the problem of synthesizing strategies for linear temporal logic (LTL) specifications that are interpreted over finite traces -- a problem that is central to the automated construction of controllers, robot…
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.…
Natural language is an intuitive way for humans to communicate tasks to a robot. While natural language (NL) is ambiguous, real world tasks and their safety requirements need to be communicated unambiguously. Signal Temporal Logic (STL) is…
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…
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…
Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional…
Symbolic control problems aim to synthesize control policies for dynamical systems under complex temporal specifications. For such problems, Signal Temporal Logic (STL) is increasingly used as the formal specification language due to its…
We propose a new robustness score for continuous-time Signal Temporal Logic (STL) specifications. Instead of considering only the most severe point along the evolution of the signal, we use average scores to extract more information from…
We investigate the task and motion planning problem for dynamical systems under signal temporal logic (STL) specifications. Existing works on STL control synthesis mainly focus on generating plans that satisfy properties over a single…
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…
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…
This article surveys the System Level Synthesis framework, which presents a novel perspective on constrained robust and optimal controller synthesis for linear systems. We show how SLS shifts the controller synthesis task from the design of…