Related papers: Zonotope-based Symbolic Controller Synthesis for L…
Signal Temporal Logic (STL) is a convenient formalism to express bounded horizon properties of autonomous critical systems. STL extends LTL to real-valued signals and associates a non-singleton bound interval to each temporal operators. In…
This paper designs H2 and H-infinity distributed controllers with local communication and local disturbance rejection. We propose a two-step procedure: first, select closed-loop poles; then, optimize over parameterized controllers. We build…
Given a specification of linear-time temporal logic interpreted over finite traces (LTLf), the reactive synthesis problem asks to find a finitely-representable, terminating controller that reacts to the uncontrollable actions of an…
In real-time and safety-critical cyber-physical systems (CPSs), control synthesis must guarantee that generated policies meet stringent timing and correctness requirements under uncertain and dynamic conditions. Signal temporal logic (STL)…
This paper presents a novel framework for decentralized monitoring of Linear Temporal Logic (LTL), under the situation where processes are synchronous, uniform (i.e. all processes are peers), and the formula is represented as a tableau. The…
Quantitative extensions of temporal logics have recently attracted significant attention. In this work, we study frequency LTL (fLTL), an extension of LTL which allows to speak about frequencies of events along an execution. Such an…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…
Linear Temporal Logic (LTL) is a widely used specification framework for linear time properties of systems. The standard approach for verifying such properties is by transforming LTL formulae to suitable $\omega$-automata and then applying…
We show that given a desired closed-loop response for a system, there exists an affine subspace of controllers that achieve this response. By leveraging the existence of this subspace, we are able to separate controller design from…
Perception-related tasks often arise in autonomous systems operating under partial observability. This work studies the problem of synthesizing optimal policies for complex perception-related objectives in environments modeled by partially…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
We study instruction following in multi-task reinforcement learning, where an agent must zero-shot execute novel tasks not seen during training. In this setting, linear temporal logic (LTL) has recently been adopted as a powerful framework…
Functional decomposition is a powerful tool for systems analysis because it can reduce a function of arbitrary input dimensions to the sum and superposition of functions of a single variable, thereby mitigating (or potentially avoiding) the…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
In this paper, we present a provably correct controller synthesis approach for switched stochastic control systems with metric temporal logic (MTL) specifications with provable probabilistic guarantees. We first present the stochastic…
Starting from an informal requirements description of a toy production cell used in an intra-project competition in 1994, we give a formal specification that is as close as possible to requirements. We use the deductive program synthesis…
We propose a method for efficient training of Q-functions for continuous-state Markov Decision Processes (MDPs) such that the traces of the resulting policies satisfy a given Linear Temporal Logic (LTL) property. LTL, a modal logic, can…
In this paper, we propose a symbolic control synthesis method for nonlinear sampled switched systems whose vector fields are one-sided Lipschitz. The main idea is to use an approximate model obtained from the forward Euler method to build a…
We introduce a tableau decision method for deciding realizability of specifications expressed in a safety fragment of LTL that includes bounded future temporal operators. Tableau decision procedures for temporal and modal logics have been…