Related papers: Signal Temporal Logic Planning with Time-Varying R…
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…
Aerial package transportation often requires complex spatial and temporal specifications to be satisfied in order to ensure safe and timely delivery from one point to another. It is usually efficient to transport versatile payloads using…
We propose a framework for generating a signal control policy for a traffic network of signalized intersections to accomplish control objectives expressible using linear temporal logic. By applying techniques from model checking and formal…
We introduce a metric that can quantify the temporal relaxation of Signal Temporal Logic (STL) specifications and facilitate resilient control synthesis in the face of infeasibilities. The proposed metric quantifies a cumulative notion of…
Autonomous agents often operate in uncertain environments where their decisions are made based on beliefs over states of targets. We are interested in controller synthesis for complex tasks defined over belief spaces. Designing such…
The software architecture behind modern autonomous vehicles (AV) is becoming more complex steadily. Safety verification is now an imminent task prior to the large-scale deployment of such convoluted models. For safety-critical tasks in…
Many Cyber Physical System (CPS) work in a safety-critical environment, where correct execution, reliability and trustworthiness are essential. Signal Temporal Logic (STL) provides a formal framework for checking safety-critical CPS.…
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the…
Signal Temporal Logic (STL) is widely used to specify timed and safety-critical tasks for cyber-physical systems, but writing STL formulas directly is difficult for non-expert users. Natural language (NL) provides a convenient interface,…
In spatially located, large scale systems, time and space dynamics interact and drives the behaviour. Examples of such systems can be found in many smart city applications and Cyber-Physical Systems. In this paper we present the Signal…
It is widely accepted that every system should be robust in that ``small'' violations of environment assumptions should lead to ``small'' violations of system guarantees, but it is less clear how to make this intuition mathematically…
Although it is widely accepted that every system should be robust, in the sense that "small" violations of environment assumptions should lead to "small" violations of system guarantees, it is less clear how to make this intuitive notion of…
Within the field of complicated multivariate time series forecasting (TSF), popular techniques frequently rely on intricate deep learning architectures, ranging from transformer-based designs to recurrent neural networks. However, recent…
In multi-agent systems, signal temporal logic (STL) is widely used for path planning to accomplish complex objectives with formal safety guarantees. However, as the number of agents increases, existing approaches encounter significant…
Signal Temporal Logic (STL) inference seeks to extract human-interpretable rules from time-series data, but existing methods lack formal confidence guarantees for the inferred rules. Conformal prediction (CP) is a technique that can provide…
In this paper, we provide a Dynamic Programming algorithm for on-line monitoring of the state robustness of Metric Temporal Logic specifications with past time operators. We compute the robustness of MTL with unbounded past and bounded…
This paper discusses the possibility to find and construct \textit{piecewise constant martingales}, that is, martingales with piecewise constant sample paths evolving in a connected subset of $\mathbb{R}$. After a brief review of standard…
We consider the problem of steering a system with unknown, stochastic dynamics to satisfy a rich, temporally layered task given as a signal temporal logic formula. We represent the system as a Markov decision process in which the states are…
Several task and motion planning algorithms have been proposed recently to design paths for mobile robot teams with collaborative high-level missions specified using formal languages, such as Linear Temporal Logic (LTL). However, the…