Related papers: Reachability-based Control Synthesis under Signal …
Autonomous robotic systems require advanced control frameworks to achieve complex temporal objectives that extend beyond conventional stability and trajectory tracking. Signal Temporal Logic (STL) provides a formal framework for specifying…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…
This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into…
We propose a framework based on Recurrent Neural Networks (RNNs) to determine an optimal control strategy for a discrete-time system that is required to satisfy specifications given as Signal Temporal Logic (STL) formulae. RNNs can store…
We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches…
The paper considers the controller synthesis problem for general MIMO systems with unknown dynamics, aiming to fulfill the temporal reach-avoid-stay task, where the unsafe regions are time-dependent, and the target must be reached within a…
This paper addresses the multi-agent control problem under global temporal logic tasks, considering agents with heterogeneous capabilities. These global tasks involve not only absolute and relative temporal and spatial constraints, but also…
Grid supportive (GS) modes integrated within distributed energy resources (DERs) can improve the frequency response. However, synthesis of GS modes for guaranteed performance is challenging. Moreover, a tool is needed to handle…
Recent years have seen an increasing use of Signal Temporal Logic (STL) as a formal specification language for symbolic control, due to its expressiveness and closeness to natural language. Furthermore, STL specifications can be encoded as…
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…
In this article, we study the linear time-invariant state-feedback controller design problem for distributed systems. We follow the recently developed system level synthesis (SLS) approach and impose locality structure on the resulting…
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…
We study the problem of policy optimization (PO) with linear temporal logic (LTL) constraints. The language of LTL allows flexible description of tasks that may be unnatural to encode as a scalar cost function. We consider LTL-constrained…
Signal temporal logic (STL) is a powerful tool for describing complex behaviors for dynamical systems. Among many approaches, the control problem for systems under STL task constraints is well suited for learning-based solutions, because…
A major challenge faced in the design of large-scale cyber-physical systems, such as power systems, the Internet of Things or intelligent transportation systems, is that traditional distributed optimal control methods do not scale…
A framework is presented for the verification of Signal Temporal Logic (STL) specifications over continuous-time nonlinear systems under uncertainty. Based on reachability analysis, the proposed method addresses indeterminate satisfaction…
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…
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…
We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefined probability. By decomposing the dynamics into…
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…