Related papers: Robust Counterexample-guided Optimization for Plan…
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…
Real-life parallel machine scheduling problems can be characterized by: (i) limited information about the exact task duration at scheduling time, and (ii) an opportunity to reschedule the remaining tasks each time a task processing is…
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…
In this paper, we consider teams of robots with heterogeneous skills (e.g., sensing and manipulation) tasked with collaborative missions described by Linear Temporal Logic (LTL) formulas. These LTL-encoded tasks require robots to apply…
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…
Signal Temporal Logic (STL) is a formal language for describing a broad range of real-valued, temporal properties in cyber-physical systems. While there has been extensive research on verification and control synthesis from STL…
This paper presents a smooth parameterization of continuous-time Signal Temporal Logic (CT-STL) specifications for nonconvex trajectory optimization that is sound and complete up to the accuracy of the underlying numerical integration…
Signal Temporal Logic (STL) is widely used to specify timed and safety-critical tasks for cyber-physical systems, but writing STL formulas directly is difficult for non-expert users. Natural language (NL) provides a convenient interface,…
This paper addresses the problem of learning optimal control policies for systems with uncertain dynamics and high-level control objectives specified as Linear Temporal Logic (LTL) formulas. Uncertainty is considered in the workspace…
We propose a mathematical framework for synthesizing motion plans for multi-agent systems that fulfill complex, high-level and formal local specifications in the presence of inter-agent communication. The proposed synthesis framework…
We present a task-and-motion planning (TAMP) algorithm robust against a human operator's cooperative or adversarial interventions. Interventions often invalidate the current plan and require replanning on the fly. Replanning can be…
Synthesis from linear temporal logic (LTL) specifications provides assured controllers for systems operating in stochastic and potentially adversarial environments. Automatic synthesis tools, however, require a model of the environment to…
Multi-agent planning under Signal Temporal Logic (STL) is often hindered by collaborative tasks that lead to computational challenges due to the inherent high-dimensionality of the problem, preventing scalable synthesis with satisfaction…
We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via…
Much of the recent work developing formal methods techniques to specify or learn the behavior of autonomous systems is predicated on a belief that formal specifications are interpretable and useful for humans when checking systems. Though…
We address the problem of diagnosing and repairing specifications for hybrid systems formalized in signal temporal logic (STL). Our focus is on the setting of automatic synthesis of controllers in a model predictive control (MPC) framework.…
We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
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 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…
We develop a novel decentralized control method for a network of perturbed linear systems with dynamical couplings subject to Signal Temporal Logic (STL) specifications. We first transform the STL requirements into set containment problems…