Related papers: Automaton-Guided Control Synthesis for Signal Temp…
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL…
Autonomous agents often operate in uncertain environments where their decisions are made based on beliefs over states of targets. We are interested in controller synthesis for complex tasks defined over belief spaces. Designing such…
This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the…
This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the motion of the agents in the workspace is abstracted into…
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…
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…
The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents' a-priori unknown behavior. Existing works have considered the problem where either all agents are…
Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. This work addresses controller synthesis for continuous-time systems subject to STL…
We propose a new specification language and control synthesis technique for single and multi-robot high-level tasks; these tasks include timing constraints and reaction to environmental events. Specifically, we define Event-based Signal…
We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these…
Automatic synthesis from temporal logic specifications is an attractive alternative to manual system design, due to its ability to generate correct-by-construction implementations from high-level specifications. Due to the high complexity…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
This paper proposes a new highly scalable and asymptotically optimal control synthesis algorithm from linear temporal logic specifications, called $\text{STyLuS}^{*}$ for large-Scale optimal Temporal Logic Synthesis, that is designed to…
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 introduce a technique for synthesis of control and communication strategies for a team of agents from a global task specification given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied by the…
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…
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.…
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,…
This paper proposes a new optimal control synthesis algorithm for multi-robot systems under global temporal logic tasks. Existing planning approaches under global temporal goals rely on graph search techniques applied to a product automaton…
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…