Related papers: Automaton-Guided Control Synthesis for Signal Temp…
Smart contracts are small but highly error-prone programs that implement agreements between multiple parties. We present a reactive synthesis approach for the automatic construction of smart contract state machines. Towards this end, we…
In this work, we propose an abstraction and refinement methodology for the controller synthesis of discrete-time stochastic systems to enforce complex logical properties expressed by deterministic finite automata (a.k.a. DFA). Our proposed…
We propose a Reinforcement Learning (RL) based control design framework for handling complex tasks. The approach extends the concept of Reward Machines (RM) with Signal Temporal Logic (STL) formulas that can be used for event generation.…
In this paper we introduce a class of Linear Temporal Logic (LTL) specifications for which the problem of synthesizing controllers can be solved in polynomial time. The new class of specifications is an LTL fragment that we term Mode-Target…
In recent years, Signal Temporal Logic (STL) has gained traction as a practical and expressive means of encoding control objectives for robotic and cyber-physical systems. The state-of-the-art in STL trajectory synthesis is to formulate the…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…
This paper revisits the classical notion of sampling in the setting of real-time temporal logics for the modeling and analysis of systems. The relationship between the satisfiability of Metric Temporal Logic (MTL) formulas over…
Linear temporal logic (LTL) is a compelling framework for specifying complex, structured tasks for reinforcement learning (RL) agents. Recent work has shown that interpreting LTL instructions as finite automata, which can be seen as…
In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task…
Control Barrier Functions (CBFs) allow for efficient synthesis of controllers to maintain desired invariant properties of safety-critical systems. However, the problem of identifying a CBF remains an open question. As such, this paper…
We present an approach to automatically synthesize synchronized models from lightweight formal specifications. Our approach takes as input a specification of a distributed system along with a global linear time constraint, which must be…
Signal temporal logic (STL) is a powerful formalism for specifying various temporal properties in dynamical systems. However, existing methods, such as mixed-integer programming and nonlinear programming, often struggle to efficiently solve…
This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", to integrate signal temporal logic (STL) specifications into efficient mixed-binary linear programmings. In this framework, temporal…
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…
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 study automated test generation for verifying discrete decision-making modules in autonomous systems. We utilize linear temporal logic to encode the requirements on the system under test in the system specification and the behavior that…
In this work, we develop an approach to anomaly detection and prevention problem using Signal Temporal Logic (STL). This approach consists of two steps: detection of the causes of the anomalities as STL formulas and prevention of the…
Signal Temporal Logic (STL) is a widely adopted specification language in cyber-physical systems for expressing critical temporal requirements, such as safety conditions and response time. However, STL's expressivity is not sufficient to…
Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional…
Reactive systems that operate in environments with complex data, such as mobile apps or embedded controllers with many sensors, are difficult to synthesize. Synthesis tools usually fail for such systems because the state space resulting…