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Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and control synthesis methods are limited with respect to the…
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…
Timed automata (TA) is used for modeling systems with timing aspects. A TA extends a finite automaton with a set of real valued variables called clocks, that measure the time and constraints over the clocks guard the transitions. A…
In this paper we study the problem of synthesizing optimal control policies for uncertain continuous-time nonlinear systems from syntactically co-safe linear temporal logic (scLTL) formulas. We formulate this problem as a sequence of…
Human drivers naturally balance the risks of different concerns while driving, including traffic rule violations, minor accidents, and fatalities. However, achieving the same behavior in autonomous driving systems remains an open problem.…
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…
In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…
Reinforcement learning has been applied to many interesting problems such as the famous TD-gammon and the inverted helicopter flight. However, little effort has been put into developing methods to learn policies for complex persistent tasks…
Deep Reinforcement Learning (DRL) has the potential to be used for synthesizing feedback controllers (agents) for various complex systems with unknown dynamics. These systems are expected to satisfy diverse safety and liveness properties…
Multi-task learning (MTL) seeks to improve the generalized performance of learning specific tasks, exploiting useful information incorporated in related tasks. As a promising area, this paper studies an MTL-based control approach…
We study LTLf synthesis with multiple properties, where satisfying all properties may be impossible. Instead of enumerating subsets of properties, we compute in one fixed-point computation the relation between product-game states and the…
A framework for the event-triggered control synthesis under signal temporal logic (STL) tasks is proposed. In our previous work, a continuous-time feedback control law was designed, using the prescribed performance control technique, to…
We introduce a method for controlling systems with nonlinear dynamics and full actuation by approximating the dynamics with polynomials and applying a system level synthesis controller. We show how to optimize over this class of controllers…
In real-time and safety-critical cyber-physical systems (CPSs), control synthesis must guarantee that generated policies meet stringent timing and correctness requirements under uncertain and dynamic conditions. Signal temporal logic (STL)…
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 consider the problem of automatic generation of control strategies for robotic vehicles given a set of high-level mission specifications, such as "Vehicle x must eventually visit a target region and then return to a base," "Regions A and…
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)…
Virtually all verification and synthesis techniques assume that the formal specifications are readily available, functionally correct, and fully match the engineer's understanding of the given system. However, this assumption is often…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
Reactive synthesis is concerned with finding a correct-by-construction controller from formal specifications, typically expressed in Linear Temporal Logic (LTL). The specifications describe assumptions about an environment and guarantees to…