Related papers: Temporally Robust Multi-Agent STL Motion Planning …
We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The proposed framework ensures safe and reliable operation through…
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…
This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into…
We study the temporal robustness of temporal logic specifications and show how to design temporally robust control laws for time-critical control systems. This topic is of particular interest in connected systems and interleaving processes…
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…
Signal Temporal Logic (STL) offers a concise yet expressive framework for specifying and reasoning about spatio-temporal behaviors of robotic systems. Attractively, STL admits the notion of robustness, the degree to which an input signal…
This paper addresses the multi-agent control problem under global temporal logic tasks, considering agents with heterogeneous capabilities. These global tasks involve not only absolute and relative temporal and spatial constraints, but also…
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…
This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate STL constraints as a robust optimization problem (ROP) and…
This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the…
This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local…
This paper presents a smooth parameterization of continuous-time Signal Temporal Logic (CT-STL) specifications for nonconvex trajectory optimization that is sound and complete up to the accuracy of the underlying numerical integration…
Symbolic control problems aim to synthesize control policies for dynamical systems under complex temporal specifications. For such problems, Signal Temporal Logic (STL) is increasingly used as the formal specification language due to its…
Temporal logic inference is the process of extracting formal descriptions of system behaviors from data in the form of temporal logic formulas. The existing temporal logic inference methods mostly neglect uncertainties in the data, which…
We investigate how formal temporal logic specifications can enhance the safety and robustness of reinforcement learning (RL) control in aerospace applications. Using the open source AeroBench F-16 simulation benchmark, we train a Proximal…
Reinforcement Learning (RL) has shown promise in various robotics applications, yet its deployment on real systems is still limited due to safety and operational constraints. The safe RL field has gained considerable attention in recent…
Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…
We design controllers from formal specifications for positive discrete-time monotone systems that are subject to bounded disturbances. Such systems are widely used to model the dynamics of transportation and biological networks. The…
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
Signal temporal logic (STL) was introduced for monitoring temporal properties of continuous-time signals for continuous and hybrid systems. Differential dynamic logic (dL) was introduced to reason about the end states of a hybrid program.…