Related papers: Decentralized Signal Temporal Logic Control for Pe…
We develop an assume-guarantee contract framework for the design of cyber-physical systems, modeled as closed-loop control systems, under probabilistic requirements. We use a variant of signal temporal logic, namely, Stochastic Signal…
This paper considers the problem of controller synthesis of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional…
This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local…
In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnected systems. By leveraging the idea of funnel-based control,…
We consider the decentralized control of a discrete-time, linear system subject to exogenous disturbances and polyhedral constraints on the state and input trajectories. The underlying system is composed of a finite collection of…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate STL constraints as a robust optimization problem (ROP) and…
We consider the decentralized control of a discrete-time time-varying linear system subject to additive disturbances and polyhedral constraints on the state and input trajectories. The underlying system is composed of a finite collection of…
We present a robust control framework for time-critical systems in which satisfying real-time constraints robustly is of utmost importance for the safety of the system. Signal Temporal Logic (STL) provides a formal means to express a large…
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…
Formulating the intended behavior of a dynamic system can be challenging. Signal temporal logic (STL) is frequently used for this purpose due to its suitability in formalizing comprehensible, modular, and versatile spatiotemporal…
This paper studies a constrained optimization problem over networked systems with an undirected and connected communication topology. The algorithm proposed in this work utilizes singular perturbation, dynamic average consensus, and saddle…
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a…
We present Shrinking Horizon Model Predictive Control (SHMPC) for discrete-time linear systems with Signal Temporal Logic (STL) specification constraints under stochastic disturbances. The control objective is to maximize an optimization…
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…
This paper presents an assume-guarantee reasoning approach to the computation of robust invariant sets for network systems. Parameterized signal temporal logic (pSTL) is used to formally describe the behaviors of the subsystems, which we…
We propose a framework for the decentralized control of a team of agents that are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas. Each local LTL task specification captures both the requirements on the respective…
This paper studies the online control synthesis problem for uncertain discrete-time systems subject to signal temporal logic (STL) specifications. Different from existing techniques, this work proposes an approach based on STL, reachability…
We introduce a metric that can quantify the temporal relaxation of Signal Temporal Logic (STL) specifications and facilitate resilient control synthesis in the face of infeasibilities. The proposed metric quantifies a cumulative notion of…
In this paper, we consider networks of static sensors with integrated sensing and communication capabilities. The goal of the sensors is to propagate their collected information to every other agent in the network and possibly a human…