Related papers: Control Synthesis using Signal Temporal Logic Spec…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
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…
This work presents a novel co-design strategy that integrates trajectory planning and control to handle STL-based tasks in autonomous robots. The method consists of two phases: $(i)$ learning spatio-temporal motion primitives to encapsulate…
Formal control synthesis approaches over stochastic systems have received significant attention in the past few years, in view of their ability to provide provably correct controllers for complex logical specifications in an automated…
G4LTL-ST automatically synthesizes control code for industrial Programmable Logic Controls (PLC) from timed behavioral specifications of input-output signals. These specifications are expressed in a linear temporal logic (LTL) extended with…
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…
We present a bounded model checking algorithm for signal temporal logic (STL) that exploits mixed-integer linear programming (MILP). A key technical element is our novel MILP encoding of the STL semantics; it follows the idea of stable…
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…
This paper considers the problem of controller synthesis of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional…
Reinforcement Learning (RL) has shown promise in various robotics applications, yet its deployment on real systems is still limited due to safety and operational constraints. The safe RL field has gained considerable attention in recent…
We introduce a new logic called Signal Convolution Logic (SCL) that combines temporal logic with convolutional filters from digital signal processing. SCL enables to reason about the percentage of time a formula is satisfied in a bounded…
We extend Signal Temporal Logic (STL) to enable the specification of importance and priorities. The extension, called Weighted STL (wSTL), has the same qualitative (Boolean) semantics as STL, but additionally defines weights associated with…
Signal Temporal Logic (STL) is a formal language over continuous-time signals (such as trajectories of a multi-agent system) that allows for the specification of complex spatial and temporal system requirements (such as staying sufficiently…
In this paper we introduce a class of Linear Temporal Logic (LTL) specifications for which the problem of synthesizing controllers can be solved in polynomial time. The new class of specifications is an LTL fragment that we term Mode-Target…
In this paper, we present a provably correct controller synthesis approach for switched stochastic control systems with metric temporal logic (MTL) specifications with provable probabilistic guarantees. We first present the stochastic…
We investigate the problem of controller synthesis for hyperproperties specified in the temporal logic HyperLTL. Hyperproperties are system properties that relate multiple execution traces. Hyperproperties can elegantly express…
Several methods have been proposed recently to learn neural network (NN) controllers for autonomous agents, with unknown and stochastic dynamics, tasked with complex missions captured by Linear Temporal Logic (LTL). Due to the…
Executing a Golog program on an actual robot typically requires additional steps to account for hardware or software details of the robot platform, which can be formulated as constraints on the program. Such constraints are often temporal,…
We introduce a technique for synthesis of control and communication strategies for a team of agents from a global task specification given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied by the…
We propose a symbolic self-triggered controller synthesis procedure for non-deterministic continuous-time nonlinear systems without stability assumptions. The goal is to compute a controller that satisfies two objectives. The first…