Related papers: Continuous-Time Control Synthesis for Multiple Qua…
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…
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…
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…
In many multirobot applications, planning trajectories in a way to guarantee that the collective behavior of the robots satisfies a certain high-level specification is crucial. Motivated by this problem, we introduce counting temporal…
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…
We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches…
Many modern autonomous systems, particularly multi-agent systems, are time-critical and need to be robust against timing uncertainties. Previous works have studied left and right time robustness of signal temporal logic specifications by…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
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…
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…
Inspection of power line infrastructures must be periodically conducted by electric companies in order to ensure reliable electric power distribution. Research efforts are focused on automating the power line inspection process by looking…
In this paper, we consider the problem of controlling a dynamical system such that its trajectories satisfy a temporal logic property in a given amount of time. We focus on multi-affine systems and specifications given as syntactically…
This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into…
Existing methods for safe multi-agent control using logic specifications like Signal Temporal Logic (STL) often face scalability issues. This is because they rely either on single-agent perspectives or on Mixed Integer Linear Programming…
This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set $S$ in a user-defined or prescribed time $T$. We define a new class of control Lyapunov functions, called…
We study the temporal robustness of temporal logic specifications and show how to design temporally robust control laws for time-critical control systems. This topic is of particular interest in connected systems and interleaving processes…
Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional…
Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…
This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…