Related papers: Distributed Sequential Receding Horizon Control of…
This paper presents control strategies based on time-varying convergent higher order control barrier functions for a class of leader-follower multi-agent systems under signal temporal logic (STL) tasks. Each agent is assigned a local STL…
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a…
We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these…
In this paper, we consider networks of static sensors with integrated sensing and communication capabilities. The goal of the sensors is to propagate their collected information to every other agent in the network and possibly a human…
We consider a stochastic linear system and address the design of a finite horizon control policy that is optimal according to some average cost criterion and accounts also for probabilistic constraints on both the input and state variables.…
This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…
The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents' a-priori unknown behavior. Existing works have considered the problem where either all agents are…
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…
In this paper, we investigate the control synthesis problem for Signal Temporal Logic (STL) specifications in the presence of uncontrollable agents. Existing works mainly address this problem in a robust control setting by assuming the…
We propose a distributed control and coordination strategy for multi-agent systems where each agent has a local task specified as a Linear Temporal Logic (LTL) formula and at the same time is subject to relative-distance constraints with…
Multi-agent planning under Signal Temporal Logic (STL) is often hindered by collaborative tasks that lead to computational challenges due to the inherent high-dimensionality of the problem, preventing scalable synthesis with satisfaction…
We introduce a technique for synthesis of control and communication strategies for a team of agents from a global task specification given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied by the…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
Signal Temporal Logic (STL) is a formal language over continuous-time signals (such as trajectories of a multi-agent system) that allows for the specification of complex spatial and temporal system requirements (such as staying sufficiently…
We propose a receding horizon control strategy that readily handles systems that exhibit interval-wise total energy constraints on the input control sequence. The approach is based on a variable optimization horizon length and contractive…
A novel modelling framework is proposed for the analysis of aggregative games on an infinite-time horizon, assuming that players are subject to heterogeneous periodic constraints. A new aggregative equilibrium notion is presented and the…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
In this paper, we investigate the problem of Model Predictive Control (MPC) of dynamic systems for high-level specifications described by Signal Temporal Logic (STL) formulae. Recent works show that MPC has the great potential in handling…
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…
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…