Related papers: Optimization-Based Model Checking and Trace Synthe…
Inspection planning is concerned with computing the shortest robot path to inspect a given set of points of interest (POIs) using the robot's sensors. This problem arises in a wide range of applications from manufacturing to medical…
The model-checking problem for hybrid systems is a well known challenge in the scientific community. Most of the existing approaches and tools are limited to safety properties only, or operates by transforming the hybrid system to be…
In runtime verification, manually formalizing a specification for monitoring system executions is a tedious and error-prone process. To address this issue, we consider the problem of automatically synthesizing formal specifications from…
Signal Temporal Logic monitoring over numerical simulation traces has emerged as an effective approach to approximate verification of continuous and hybrid systems. In this report we explore an exact verification procedure for STL…
Optimal planning with respect to learned neural network (NN) models in continuous action and state spaces using mixed-integer linear programming (MILP) is a challenging task for branch-and-bound solvers due to the poor linear relaxation of…
Model checking has been successfully used in many computer science fields, including artificial intelligence, theoretical computer science, and databases. Most of the proposed solutions make use of classical, point-based temporal logics,…
Verification of large and complicated concurrent programs is an important issue in the software world. Stateless model checking is an appropriate method for systematically and automatically testing of large programs, which has proved its…
This paper addresses the challenge of planning a sequence of tasks to be performed by multiple robots while minimizing the overall completion time subject to timing and precedence constraints. Our approach uses the Timed Partial Orders…
Metric Interval Temporal Logic (MITL) is a well studied real-time, temporal logic that has decidable satisfiability and model checking problems. The decision procedures for MITL rely on the automata theoretic approach, where logic formulas…
This letter explores intelligent scheduling of sensor-to-controller communication in networked control systems, particularly when data transmission incurs a cost. While the optimal controller in a standard linear quadratic Gaussian (LQG)…
We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…
Motion planning for autonomous vehicles often requires satisfying multiple conditionally conflicting specifications. In situations where not all specifications can be met simultaneously, minimum-violation motion planning maintains system…
Model checking allows one to automatically verify a specification of the expected properties of a system against a formal model of its behaviour (generally, a Kripke structure). Point-based temporal logics, such as LTL, CTL, and CTL*, that…
This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local…
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…
Modern Mixed Integer Linear Programming (MILP) solvers use the Branch-and-Bound algorithm together with a plethora of auxiliary components that speed up the search. In recent years, there has been an explosive development in the use of…
This paper presents a technique, named STLCG, to compute the quantitative semantics of Signal Temporal Logic (STL) formulas using computation graphs. STLCG provides a platform which enables the incorporation of logical specifications into…
In this paper we deal with a network of agents seeking to solve in a distributed way Mixed-Integer Linear Programs (MILPs) with a coupling constraint (modeling a limited shared resource) and local constraints. MILPs are NP-hard problems and…
Synthesizing a reactive system from specifications given in linear temporal logic (LTL) is a classical problem, finding its applications in safety-critical systems design. We present our tool SemML, which won this year's LTL realizability…
This paper introduces $\Delta$-MILP, a powerful variant of the mixed-integer linear programming (MILP) optimization framework to solve NASA's Deep Space Network (DSN) scheduling problem. This work is an extension of our original MILP…