Related papers: Zonotope-based Symbolic Controller Synthesis for L…
In this paper, the works on the analytical volume analysis for the controllable regions of the linear discrete-time (LDT) systems in papers \cite{zhaomw202001} and \cite {zhaomw202004} are discussed further and a new theorem on the…
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…
This paper introduces time window temporal logic (TWTL), a rich expressivity language for describing various time bounded specifications. In particular, the syntax and semantics of TWTL enable the compact representation of serial tasks,…
Signal Temporal Logic (STL) is a powerful specification language for describing complex temporal behaviors of continuous signals, making it well-suited for high-level robotic task descriptions. However, generating executable plans for STL…
This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement learning (RL). Autonomous robots often need to satisfy spatial…
This paper presents a secure-by-construction planning and control framework for multi-agent systems subject to linear temporal logic (LTL) specifications. The framework protects sensitive information from a passive intruder with partial…
This paper proposes a new AND-OR graph search framework for synthesis of Linear Temporal Logic on finite traces (\LTLf), that overcomes some limitations of previous approaches. Within such framework, we devise a procedure inspired by the…
This project introduces a hierarchical planner integrating Linear Temporal Logic (LTL) constraints with natural language prompting for robot motion planning. The framework decomposes maps into regions, generates directed graphs, and…
We study the verification problem for closed-loop dynamical systems with neural-network controllers (NNCS). This problem is commonly reduced to computing the set of reachable states. When considering dynamical systems and neural networks in…
We discuss the problem of experimentally evaluating linear-time temporal logic (LTL) synthesis tools for reactive systems. We first survey previous such work for the currently publicly available synthesis tools, and then draw conclusions by…
Autonomous agents often face the challenge of interpreting uncertain natural language instructions for planning tasks. Representing these instructions as Linear Temporal Logic (LTL) enables planners to synthesize actionable plans. We…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the…
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
Individual machines in flexible production lines explicitly expose capabilities at their interfaces by means of parametric skills. Given such a set of configurable machines, a line integrator is faced with the problem of finding and tuning…
To make robots accessible to a broad audience, it is critical to endow them with the ability to take universal modes of communication, like commands given in natural language, and extract a concrete desired task specification, defined using…
Linear Temporal Logic (LTL) is widely used for defining conditions on the execution paths of dynamic systems. In the case of dynamic systems that allow for nondeterministic evolutions, one has to specify, along with an LTL formula f, which…
This article surveys the System Level Synthesis framework, which presents a novel perspective on constrained robust and optimal controller synthesis for linear systems. We show how SLS shifts the controller synthesis task from the design of…
In the classical synthesis problem, we are given an LTL formula psi over sets of input and output signals, and we synthesize a transducer that realizes psi. One weakness of automated synthesis in practice is that it pays no attention to the…
This paper develops a framework for synthesizing safety controllers for discrete-time stochastic linear control systems (dt-SLS) operating under communication imperfections. The control unit is remote and communicates with the sensor and…