Related papers: Signal Temporal Logic Planning with Time-Varying R…
Temporal logic rules are often used in control and robotics to provide structured, human-interpretable descriptions of trajectory data. These rules have numerous applications including safety validation using formal methods, constraining…
This paper presents algorithms for performing data-driven reachability analysis under temporal logic side information. In certain scenarios, the data-driven reachable sets of a robot can be prohibitively conservative due to the inherent…
This paper presents a methodology for temporal logic verification of discrete-time stochastic systems. Our goal is to find a lower bound on the probability that a complex temporal property is satisfied by finite traces of the system.…
Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…
We propose the Robustness Temporal Logic (RobTL), a novel temporal logic for the specification and analysis of distances between the behaviours of Cyber-Physical Systems (CPSs) over a finite time horizon. Differently from classical temporal…
This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
Signal Temporal Logic (STL) inference learns interpretable logical rules for temporal behaviors in dynamical systems. To ensure the correctness of learned STL formulas, recent approaches have incorporated conformal prediction as a…
This paper concerns the verification of continuous-time polynomial spline trajectories against linear temporal logic specifications (LTL without 'next'). Each atomic proposition is assumed to represent a state space region described by a…
We present a framework to interpret signal temporal logic (STL) formulas over discrete-time stochastic processes in terms of the induced risk. Each realization of a stochastic process either satisfies or violates an STL formula. In fact, we…
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…
Autonomous robotic systems require advanced control frameworks to achieve complex temporal objectives that extend beyond conventional stability and trajectory tracking. Signal Temporal Logic (STL) provides a formal framework for specifying…
We investigate the task and motion planning problem for dynamical systems under signal temporal logic (STL) specifications. Existing works on STL control synthesis mainly focus on generating plans that satisfy properties over a single…
As the development of autonomous vehicles progresses, efficient safety assurance methods become increasingly necessary. Safety assurance methods such as monitoring and scenario-based testing call for formalisation of driving scenarios. In…
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…
Signal Temporal Logic (STL) is expressive formal language that specifies spatio-temporal requirements in robotics. Its quantitative robustness semantics can be easily integrated with optimization-based control frameworks. However, STL…
Linear Temporal Logic (LTL) is the standard specification language for reactive systems and is successfully applied in industrial settings. However, many shortcomings of LTL have been identified in the literature, among them the limited…
This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet of multi-rotors. The proposed solution extends our previous motion planner to compute feasible and constrained…
In recent years, Signal Temporal Logic (STL) has gained traction as a practical and expressive means of encoding control objectives for robotic and cyber-physical systems. The state-of-the-art in STL trajectory synthesis is to formulate the…
Linear Temporal Logic (LTL) is the standard specification language for reactive systems and is successfully applied in industrial settings. However, many shortcomings of LTL have been identified in the literature, among them the limited…