Related papers: Continuous-time control synthesis under nested sig…
We present a framework that takes a concurrent program composed of unsynchronized processes, along with a temporal specification of their global concurrent behaviour, and automatically generates a concurrent program with synchronization…
Signal Temporal Logic (STL) has gained popularity in recent years as a specification language for cyber-physical systems, especially in robotics. Beyond being expressive and easy to understand, STL is appealing because the synthesis…
Deep Reinforcement Learning (DRL) has the potential to be used for synthesizing feedback controllers (agents) for various complex systems with unknown dynamics. These systems are expected to satisfy diverse safety and liveness properties…
We introduce a new approach for the synthesis of Mealy machines from specifications in linear-time temporal logic (LTL), where the number of cycles in the state graph of the implementation is limited by a given bound. Bounding the number of…
While most of the current synthesis algorithms only focus on correctness-by-construction, ensuring robustness has remained a challenge. Hence, in this paper, we address the robust-by-construction synthesis problem by considering the…
This paper studies the controller synthesis problem for nonlinear control systems under linear temporal logic (LTL) specifications using zonotope techniques. A local-to-global control strategy is proposed for the desired specification…
We address the problem of synthesizing reactive controllers for cyber-physical systems subject to Signal Temporal Logic (STL) specifications in the presence of adversarial inputs. Given a finite horizon, we define a reactive hierarchy of…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
We present a new average-based robustness score for Signal Temporal Logic (STL) and a framework for optimal control of a dynamical system under STL constraints. By averaging the scores of different specifications or subformulae at different…
Automatic synthesis from linear temporal logic (LTL) specifications is widely used in robotic motion planning, control of autonomous systems, and load distribution in power networks. A common specification pattern in such applications…
We propose a symbolic self-triggered controller synthesis procedure for non-deterministic continuous-time nonlinear systems without stability assumptions. The goal is to compute a controller that satisfies two objectives. The first…
Motivated by the recent interest in risk-aware control, we study a continuous-time control synthesis problem to bound the risk that a stochastic linear system violates a given specification. We use risk signal temporal logic as a…
We develop a novel decentralized control method for a network of perturbed linear systems with dynamical couplings subject to Signal Temporal Logic (STL) specifications. We first transform the STL requirements into set containment problems…
A framework is presented for the verification of Signal Temporal Logic (STL) specifications over continuous-time nonlinear systems under uncertainty. Based on reachability analysis, the proposed method addresses indeterminate satisfaction…
The fundamental idea of this work is to synthesize reactive controllers such that closed-loop execution trajectories of the system satisfy desired specifications that ensure correct system behaviors, while optimizing a desired performance…
In this paper, we investigate safety-critical control problem of discrete-time stochastic systems with incomplete information, where safety constraints must be enforced using state estimates obtained from noisy measurements. We develop an…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
A motion planning methodology based on the combination of Control Barrier Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This methodology allows task completion at any point within a specified time interval,…
Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically, CBF-based synthesis approaches apply to systems that…
In this paper, we investigate the problem of synthesizing strategies for linear temporal logic (LTL) specifications that are interpreted over finite traces -- a problem that is central to the automated construction of controllers, robot…