Related papers: A Specification-Guided Framework for Temporal Logi…
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…
For performing robotic manipulation tasks, the core problem is determining suitable trajectories that fulfill the task requirements. Various approaches to compute such trajectories exist, being learning and optimization the main driving…
This paper presents a general framework for the design of linear controllers for linear systems subject to time-domain constraints. The design framework exploits sums-of-squares techniques to incorporate the time-domain constraints on…
We consider the setting of component-based design for real-time systems with critical timing constraints. Based on our earlier work, we propose a compositional specification theory for timed automata with I/O distinction, which supports…
We address the problem of controlling a noisy differential drive mobile robot such that the probability of satisfying a specification given as a Bounded Linear Temporal Logic (BLTL) formula over a set of properties at the regions in the…
Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…
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…
We propose a method for efficient training of Q-functions for continuous-state Markov Decision Processes (MDPs) such that the traces of the resulting policies satisfy a given Linear Temporal Logic (LTL) property. LTL, a modal logic, can…
Reinforcement Learning (RL) is a widely employed machine learning architecture that has been applied to a variety of control problems. However, applications in safety-critical domains require a systematic and formal approach to specifying…
Synthesizing a program that realizes a logical specification is a classical problem in computer science. We examine a particular type of program synthesis, where the objective is to synthesize a strategy that reacts to a potentially…
Linear Temporal Logic (LTL) is a widely used specification framework for linear time properties of systems. The standard approach for verifying such properties is by transforming LTL formulae to suitable $\omega$-automata and then applying…
We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The proposed framework ensures safe and reliable operation through…
In this paper, we investigate the controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…
Linear Temporal Logic (LTL) is the standard specification language for reactive systems and is successfully applied in industrial settings. However, many shortcomings of LTL have been identified in the literature, among them the limited…
This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement learning (RL). Autonomous robots often need to satisfy spatial…
This letter presents a unified framework for the design of prescribed-time controllers under time-varying input and state constraints for normal-form unknown nonlinear systems with uncertain input gain. The proposed approach is based on a…
There has been substantial progress in the inference of formal behavioural specifications from sample trajectories, for example, using Linear Temporal Logic (LTL). However, these techniques cannot handle specifications that correctly…
We present a framework to synthesize control policies for nonlinear dynamical systems from complex temporal constraints specified in a rich temporal logic called Signal Temporal Logic (STL). We propose a novel smooth and differentiable STL…
Temporal logics are powerful tools that are widely used for the synthesis and verification of reactive systems. The recent progress on Large Language Models (LLMs) has the potential to make the process of writing such specifications more…
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…