Related papers: Trajectory Planning with Signal Temporal Logic Cos…
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…
We present a method to solve planning problems involving sequential decision making in unpredictable environments while accomplishing a high level task specification expressed using the formalism of linear temporal logic. Our method…
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…
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…
Recent years have seen an increasing use of Signal Temporal Logic (STL) as a formal specification language for symbolic control, due to its expressiveness and closeness to natural language. Furthermore, STL specifications can be encoded as…
We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conventional sampling-based methods require…
The use of random sampling in decision-making and control has become popular with the ease of access to graphic processing units that can generate and calculate multiple random trajectories for real-time robotic applications. In contrast to…
In this paper, we investigate the problem of Model Predictive Control (MPC) of dynamic systems for high-level specifications described by Signal Temporal Logic (STL) formulae. Recent works show that MPC has the great potential in handling…
We study the verification problem of stochastic systems under signal temporal logic (STL) specifications. We propose a novel approach that enables the verification of the probabilistic satisfaction of STL specifications for nonlinear…
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…
Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-dimensional system dynamics.…
We introduce a sampling-based learning method for solving optimal control problems involving task satisfaction constraints for systems with partially known dynamics. The control problems are defined by a cost to be minimized and a task to…
This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied…
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…
This paper studies an optimal control problem for continuous-time stochastic systems subject to reachability objectives specified in a subclass of metric interval temporal logic specifications, a temporal logic with real-time constraints.…
Signal Temporal Logic (STL) is a powerful language for specifying temporally structured robotic tasks. Planning executable trajectories under STL constraints remains difficult when system dynamics and environment structure are not…
We present a new approach for the design of a synthetic biological circuit whose behaviour is specified in terms of signal temporal logic (STL) formulae. We first show how to characterise with STL formulae the input/output behaviour of…
This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…
The use of spatio-temporal logics in control is motivated by the need to impose complex spatial and temporal behavior on dynamical systems, and to control these systems accordingly. Synthesizing correct-by-design control laws is a…
The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible…