Related papers: Temporally Robust Multi-Agent STL Motion Planning …
Signal Temporal Logic (STL) is a formal language for describing a broad range of real-valued, temporal properties in cyber-physical systems. While there has been extensive research on verification and control synthesis from STL…
For performing robotic manipulation tasks, the core problem is determining suitable trajectories that fulfill the task requirements. Various approaches to compute such trajectories exist, being learning and optimization the main driving…
Generating realistic simulations is critical for autonomous system applications such as self-driving and human-robot interactions. However, driving simulators nowadays still have difficulty in generating controllable, diverse, and…
Metric temporal logic (MTL) provides a formal framework for defining time-dependent mission requirements on autonomous vehicles. However, optimizing control decisions subject to these constraints is often computationally expensive. This…
This study introduces a robust planning framework that utilizes a model predictive control (MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This marks the first-ever study to apply STL-guided trajectory…
In this work, we focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems'…
The use of spatio-temporal logics in control is motivated by the need to impose complex spatial and temporal behavior on dynamical systems, and to control these systems accordingly. Synthesizing correct-by-design control laws is a…
Several task and motion planning algorithms have been proposed recently to design paths for mobile robot teams with collaborative high-level missions specified using formal languages, such as Linear Temporal Logic (LTL). However, the…
In spatially located, large scale systems, time and space dynamics interact and drives the behaviour. Examples of such systems can be found in many smart city applications and Cyber-Physical Systems. In this paper we present the Signal…
Metric Temporal Logic can express temporally evolving properties with time-critical constraints or time-triggered constraints for real-time systems. This paper extends the Metric Interval Temporal Logic with a distribution eventuality…
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…
Linear Temporal Logic (LTL) is the standard specification language for reactive systems and is successfully applied in industrial settings. However, many shortcomings of LTL have been identified in the literature, among them the limited…
There has been a growing interest in extracting formal descriptions of the system behaviors from data. Signal Temporal Logic (STL) is an expressive formal language used to describe spatial-temporal properties with interpretability. This…
This paper addresses decentralized control of large-scale heterogeneous multi-agent systems subject to bounded external disturbances and limited communication, with the objective of satisfying cooperative Signal Temporal Logic (STL)…
We present a new approach for the design of a synthetic biological circuit whose behaviour is specified in terms of signal temporal logic (STL) formulae. We first show how to characterise with STL formulae the input/output behaviour of…
Temporal logics are extensively used for the specification of on-going behaviours of reactive systems. Two significant developments in this area are the extension of traditional temporal logics with modalities that enable the specification…
Signal Temporal Logic (STL) inference learns interpretable logical rules for temporal behaviors in dynamical systems. To ensure the correctness of learned STL formulas, recent approaches have incorporated conformal prediction as a…
Signal temporal logic (STL) is an expressive language to specify time-bound real-world robotic tasks and safety specifications. Recently, there has been an interest in learning optimal policies to satisfy STL specifications via…
Linear Temporal Logic (LTL) is the standard specification language for reactive systems and is successfully applied in industrial settings. However, many shortcomings of LTL have been identified in the literature, among them the limited…
Signal Temporal Logic (STL) has emerged as an expressive language for reasoning intricate planning objectives. However, existing STL-based methods often assume full observation and known dynamics, which imposes constraints on real-world…