Related papers: Temporal Logic Guided Safe Navigation for Autonomo…
The deployment of autonomous systems in uncertain and dynamic environments has raised fundamental questions. Addressing these is pivotal to build fully autonomous systems and requires a systematic integration of planning and control. We…
There are spatio-temporal rules that dictate how robots should operate in complex environments, e.g., road rules govern how (self-driving) vehicles should behave on the road. However, seamlessly incorporating such rules into a robot control…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Virtually all verification and synthesis techniques assume that the formal specifications are readily available, functionally correct, and fully match the engineer's understanding of the given system. However, this assumption is often…
Signal Temporal Logic (STL) is a formal language for describing a broad range of real-valued, temporal properties in cyber-physical systems. While there has been extensive research on verification and control synthesis from 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…
Much of the recent work developing formal methods techniques to specify or learn the behavior of autonomous systems is predicated on a belief that formal specifications are interpretable and useful for humans when checking systems. Though…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…
Signal Temporal Logic (STL) provides a convenient way of encoding complex control objectives for robotic and cyber-physical systems. The state-of-the-art in trajectory synthesis for STL is based on Mixed-Integer Convex Programming (MICP).…
Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as…
Path planning is a fundamental scientific problem in robotics and autonomous navigation, requiring the derivation of efficient routes from starting to destination points while avoiding obstacles. Traditional algorithms like A* and its…
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…
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.…
In this paper we study the problem of synthesizing optimal control policies for uncertain continuous-time nonlinear systems from syntactically co-safe linear temporal logic (scLTL) formulas. We formulate this problem as a sequence of…
It has been an ambition of many to control a robot for a complex task using natural language (NL). The rise of large language models (LLMs) makes it closer to coming true. However, an LLM-powered system still suffers from the ambiguity…
There has been substantial progress in the inference of formal behavioural specifications from sample trajectories, for example, using Linear Temporal Logic (LTL). However, these techniques cannot handle specifications that correctly…
Challenges related to automated driving are no longer focused on just the construction of such automated vehicles (AVs), but in assuring the safety of their operation. Recent advances in Level 3 and Level 4 autonomous driving have motivated…
In this work, we propose an approach for ensuring the safety of vehicles passing through an intelligent intersection. There are many proposals for the design of intelligent intersections that introduce central decision-makers to…