Related papers: Optimization with Temporal and Logical Specificati…
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…
This paper presents a sequential convex programming (SCP) framework for ensuring the continuous-time satisfaction of compound state-triggered constraints, a subset of logical specifications, in the powered descent guidance (PDG) problem.…
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…
We present a new average-based robustness score for Signal Temporal Logic (STL) and a framework for optimal control of a dynamical system under STL constraints. By averaging the scores of different specifications or subformulae at different…
In this work, we present a novel robustness measure for continuous-time stochastic trajectories with respect to Signal Temporal Logic (STL) specifications. We show the soundness of the measure and develop a monitor for reasoning about…
Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size…
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 signal temporal logic (STL)…
Signal temporal logic (STL) is a powerful formalism for specifying various temporal properties in dynamical systems. However, existing methods, such as mixed-integer programming and nonlinear programming, often struggle to efficiently solve…
This study considers the control problem with signal temporal logic (STL) specifications. Prior works have adopted smoothing techniques to address this problem within a feasible time frame and solve the problem by applying sequential…
We propose a new robustness score for continuous-time Signal Temporal Logic (STL) specifications. Instead of considering only the most severe point along the evolution of the signal, we use average scores to extract more information from…
Motion planning classically concerns the problem of accomplishing a goal configuration while avoiding obstacles. However, the need for more sophisticated motion planning methodologies, taking temporal aspects into account, has emerged. To…
This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level logical and timing requirements while respecting low-level…
Signal Temporal Logic (STL) has gained popularity in recent years as a specification language for cyber-physical systems, especially in robotics. Beyond being expressive and easy to understand, STL is appealing because the synthesis…
This paper studies consensus-based decentralized stochastic optimization for minimizing possibly non-convex expected objectives with convex non-smooth regularizers and nonlinear functional inequality constraints. We reformulate the…
We study motion planning under Signal Temporal Logic (STL), a useful formalism for specifying spatial-temporal requirements. We pose STL synthesis as a trajectory optimization problem leveraging the STL robustness semantics. To obtain a…
We present a framework to synthesize control policies for nonlinear dynamical systems from complex temporal constraints specified in a rich temporal logic called Signal Temporal Logic (STL). We propose a novel smooth and differentiable STL…
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…
In this paper, we consider the problem of minimizing the average of a large number of nonsmooth and convex functions. Such problems often arise in typical machine learning problems as empirical risk minimization, but are computationally…
The reliability of autonomous systems depends on their robustness, i.e., their ability to meet their objectives under uncertainty. In this paper, we study spatiotemporal robustness of temporal logic specifications evaluated over…