Related papers: Enhancing Data-Driven Reachability Analysis using …
Motivated by earlier work and the developer of a new algorithm, the FollowerStopper, this article uses reachability analysis to verify the safety of the FollowerStopper algorithm, which is a controller designed for dampening stop- and-go…
We propose the Robustness Temporal Logic (RobTL), a novel temporal logic for the specification and analysis of distances between the behaviours of Cyber-Physical Systems (CPSs) over a finite time horizon. Differently from classical temporal…
In spatially located, large scale systems, time and space dynamics interact and drives the behaviour. Examples of such systems can be found in many smart city applications and Cyber-Physical Systems. In this paper we present the Signal…
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…
In many applications, the integrals and derivatives of signals carry valuable information (e.g., cumulative success over a time window, the rate of change) regarding the behavior of the underlying system. In this paper, we extend the…
We propose algorithms for performing model checking and control synthesis for discrete-time uncertain systems under linear temporal logic (LTL) specifications. We construct temporal logic trees (TLT) from LTL formulae via reachability…
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 temporal logic specifications. Existing…
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.…
The fully dynamic transitive closure problem asks to maintain reachability information in a directed graph between arbitrary pairs of vertices, while the graph undergoes a sequence of edge insertions and deletions. The problem has been…
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…
Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-dimensional system dynamics.…
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
While a natural fit for modeling and understanding mobile networks, time-varying graphs remain poorly understood. Indeed, many of the usual concepts of static graphs have no obvious counterpart in time-varying ones. In this paper, we…
Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling human behavior a priori is challenging, such models are often…
In this work, we propose a novel method to find temporal properties that lead to the unexpected behaviors from labeled dataset. We express these properties in past time Signal Temporal Logic (ptSTL). First, we present a novel approach for…
Reachability analysis of hybrid systems has been used as a safety verification tool to assess offline whether the state of a system is capable of remaining within a designated safe region for a given time horizon. Although it has been…
A temporal graph is a dynamic graph where every edge is assigned a set of integer time labels that indicate at which discrete time step the edge is available. In this paper, we study how changes of the time labels, corresponding to delays…
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…
In this paper we present a grammar and control synthesis framework for online modification of Event-based Signal Temporal Logic (STL) specifications, during execution. These modifications allow a user to change the robots' task in response…
Sampling-based motion planning has emerged as a powerful approach for robotics, enabling exploration of complex, high-dimensional configuration spaces. When combined with Signal Temporal Logic (STL), a temporal logic widely used for…