Related papers: You Don't Know When I Will Arrive: Unpredictable C…
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…
Erroneous behaviour in safety critical real-time systems may inflict serious consequences. In this paper, we show how to synthesize timed shields from timed safety properties given as timed automata. A timed shield enforces the safety of a…
While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent developments address this issue through so-called predictive safety…
Speech synthesis has recently seen significant improvements in fidelity, driven by the advent of neural vocoders and neural prosody generators. However, these systems lack intuitive user controls over prosody, making them unable to rectify…
Timed regular expressions serve as a formalism for specifying real-time behaviors of Cyber-Physical Systems. In this paper, we consider the synthesis of timed regular expressions, focusing on generating a timed regular expression consistent…
This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible…
In this paper, we present a controller synthesis approach for wind turbine generators (WTG) and energy storage systems with metric temporal logic (MTL) specifications, with provable probabilistic guarantees in the stochastic environment of…
We investigate the task and motion planning problem for dynamical systems under signal temporal logic (STL) specifications. Existing works on STL control synthesis mainly focus on generating plans that satisfy properties over a single…
Controller synthesis is the process of constructing a correct system automatically from its specification. This often requires assumptions about the behaviour of the environment. It is difficult for the designer to identify the assumptions…
Designing tests to evaluate if a given autonomous system satisfies complex specifications is challenging due to the complexity of these systems. This work proposes a flow-based approach for reactive test synthesis from temporal logic…
In this paper, we develop safe reinforcement-learning-based controllers for systems tasked with accomplishing complex missions that can be expressed as linear temporal logic specifications, similar to those required by search-and-rescue…
Robust controller synthesis attracts reviving research interest, driven by the rise of learning-based systems where uncertainty and perturbation are ubiquitous. Facing an uncertain situation, a robustly stabilizing controller should…
\emph{Universal Safety Controllers (USCs)} are a promising logical control framework that guarantees the satisfaction of a given temporal safety specification when applied to any realizable plant model. Unlike traditional methods, which…
Quantitative extensions of temporal logics have recently attracted significant attention. In this work, we study frequency LTL (fLTL), an extension of LTL which allows to speak about frequencies of events along an execution. Such an…
As the complexity of control systems increases, safety becomes an increasingly important property since safety violations can damage the plant and put the system operator in danger. When the system dynamics are unknown, safety-critical…
We synthesize shared control protocols subject to probabilistic temporal logic specifications. More specifically, we develop a framework in which a human and an autonomy protocol can issue commands to carry out a certain task. We blend…
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots…
In this paper, we investigate the problem of planning an optimal infinite path for a single robot to achieve a linear temporal logic (LTL) task with security guarantee. We assume that the external behavior of the robot, specified by an…
With the increasing ubiquity of multi-capable, general-purpose robots arises the need for enabling non-expert users to command these robots to perform complex high-level tasks. To this end, high-level robot control has seen the application…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…