Related papers: Combined Left and Right Temporal Robustness for Co…
We propose a variant of the Rapidly Exploring Random Tree Star (RRT$^{\star}$) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a fragment of Signal Temporal Logic (STL) for linear systems.…
The distributed temporal logic DTL is a logic for reasoning about temporal properties of distributed systems from the local point of view of the system's agents, which are assumed to execute sequentially and to interact by means of…
When deploying LLMs in agentic architectures requiring real-time decisions under temporal constraints, we assume they reliably determine whether action windows remain open or have closed. This assumption is untested. We characterize…
This paper investigates the robustness of strong structural controllability for linear time-invariant and linear time-varying directed networks with respect to structural perturbations, including edge deletions and additions. In this…
In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing…
Many autonomous systems, such as robots and self-driving cars, involve real-time decision making in complex environments, and require prediction of future outcomes from limited data. Moreover, their decisions are increasingly required to be…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
Temporal graphs represent graph evolution over time, and have been receiving considerable research attention. Work on expressing temporal graph patterns or discovering temporal motifs typically assumes relatively simple temporal…
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…
In this paper, we provide a Dynamic Programming algorithm for on-line monitoring of the state robustness of Metric Temporal Logic specifications with past time operators. We compute the robustness of MTL with unbounded past and bounded…
Randomly-assembled dynamical systems are theoretically predicted to be unstable upon crossing a critical threshold of complexity, as first shown by May. Yet, empirical complex systems exhibit remarkable stability, indicating the presence of…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
Motivated by the development and deployment of large-scale dynamical systems, often composed of geographically distributed smaller subsystems, we address the problem of verifying their controllability in a distributed manner. In this work…
Signal Temporal Logic (STL) is a convenient formalism to express bounded horizon properties of autonomous critical systems. STL extends LTL to real-valued signals and associates a non-singleton bound interval to each temporal operators. In…
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…
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…
Controller synthesis for hybrid systems that satisfy temporal specifications expressing various system properties is a challenging problem that has drawn the attention of many researchers. However, making the assumption that such temporal…
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…
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…
In many real-world applications, safety constraints for reinforcement learning (RL) algorithms are either unknown or not explicitly defined. We propose a framework that concurrently learns safety constraints and optimal RL policies in such…