Related papers: RTAMT -- Runtime Robustness Monitors with Applicat…
Signal Temporal Logic (STL) is a widely recognized formal specification language to express rigorous temporal requirements on mixed analog signals produced by cyber-physical systems (CPS). A relevant problem in CPS design is how to…
Online monitoring aims to evaluate or to predict, at runtime, whether or not the behaviors of a system satisfy some desired specification. It plays a key role in safety-critical cyber-physical systems. In this work, we propose a new…
Distributed as an open source library since 2013, RTAB-Map started as an appearance-based loop closure detection approach with memory management to deal with large-scale and long-term online operation. It then grew to implement Simultaneous…
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…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed 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…
Real-Time Optimization (RTO) plays a crucial role in the process operation hierarchy by determining optimal set-points for the lower-level controllers. However, at the control layer, these set-points may be difficult to track due to…
To express temporal properties of dense-time real-valued signals, the Signal Temporal Logic (STL) has been defined by Maler et al. The work presented a monitoring algorithm deciding the satisfiability of STL formulae on finite discrete…
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…
Large Language Models (LLMs) have shown impressive performance in mathematical reasoning tasks when guided by Chain-of-Thought (CoT) prompting. However, they tend to produce highly confident yet incorrect outputs, which poses significant…
While most of the current synthesis algorithms only focus on correctness-by-construction, ensuring robustness has remained a challenge. Hence, in this paper, we address the robust-by-construction synthesis problem by considering the…
Runtime verification enables checking temporal logic specifications over individual execution traces and offers a scalable alternative to exhaustive formal verification. In practice, systems must satisfy dozens to hundreds of temporal…
This article presents MAPS$^2$ : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either…
There is a growing interest in adopting object technologies for the development of real-time control systems. Several commercial tools, currently available, provide object-oriented modeling and design support for real-time control systems.…
The integration of cyber-physical systems (CPS) into everyday life raises the critical necessity of ensuring their safety and reliability. An important step in this direction is requirement mining, i.e. inferring formally specified system…
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…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
Tool learning has generated widespread interest as a vital means of interaction between Large Language Models (LLMs) and the physical world. Current research predominantly emphasizes LLMs' capacity to utilize tools in well-structured…
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…
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…