Related papers: Task and Motion Planning of Dynamic Systems using …
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
Hyperproperties have shown to be a powerful tool for expressing and reasoning about information-flow security policies. In this paper, we investigate the problem of statistical model checking (SMC) for hyperproperties. Unlike exhaustive…
We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
Hoist scheduling has become a bottleneck in electroplating industry applications with the development of autonomous devices. Although there are a few approaches proposed to target at the challenging problem, they generally cannot scale to…
This paper addresses the multi-agent control problem under global temporal logic tasks, considering agents with heterogeneous capabilities. These global tasks involve not only absolute and relative temporal and spatial constraints, but also…
This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…
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…
Signal Temporal Logic (STL) is a widely adopted specification language in cyber-physical systems for expressing critical temporal requirements, such as safety conditions and response time. However, STL's expressivity is not sufficient to…
In future intelligent transportation systems, networked vehicles coordinate with each other to achieve safe operations based on an assumption that communications among vehicles and infrastructure are reliable. Traditional methods usually…
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…
We introduce Hyper$^2$LTL, a temporal logic for the specification of hyperproperties that allows for second-order quantification over sets of traces. Unlike first-order temporal logics for hyperproperties, such as HyperLTL, Hyper$^2$LTL can…
Hyperproperties extend trace properties to express properties of sets of traces, and they are increasingly popular in specifying various security and performance-related properties in domains such as cyber-physical systems, smart grids, and…
Prior work on automatic control synthesis for cyber-physical systems under logical constraints has primarily focused on environmental disturbances or modeling uncertainties, however, the impact of deliberate and malicious attacks has been…
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…
Metric temporal logic (MTL) provides a formal framework for defining time-dependent mission requirements on autonomous vehicles. However, optimizing control decisions subject to these constraints is often computationally expensive. This…
In this paper, we propose a model-free reinforcement learning method to synthesize control policies for motion planning problems with continuous states and actions. The robot is modelled as a labeled discrete-time Markov decision process…
In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a…
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…
Temporal logics have been studied as an approach to the specification of hyperproperties, resulting in the conception of "hyperlogics". With a few recent exceptions, the hyperlogics thus far developed can only relate different traces of a…
Hyperproperties express the relationship between multiple executions of a system. This is needed in many AI-related fields, such as knowledge representation and planning, to capture system properties related to knowledge, information flow,…