Related papers: Task and Motion Planning of Dynamic Systems using …
Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…
This paper addresses a motion planning problem to achieve spatio-temporal-logical tasks, expressed by syntactically co-safe linear temporal logic specifications (scLTL\next), in uncertain environments. Here, the uncertainty is modeled as…
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…
We present a task-and-motion planning (TAMP) algorithm robust against a human operator's cooperative or adversarial interventions. Interventions often invalidate the current plan and require replanning on the fly. Replanning can be…
Hyperproperties for Time Window Temporal Logic (HyperTWTL) is a domain-specific formal specification language known for its effectiveness in compactly representing security, opacity, and concurrency properties for robotics applications.…
Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…
In this paper, we consider networks of static sensors with integrated sensing and communication capabilities. The goal of the sensors is to propagate their collected information to every other agent in the network and possibly a human…
Temporal logics provide a formalism for expressing complex system specifications. A large body of literature has addressed the verification and the control synthesis problem for deterministic systems under such specifications. For…
We present SaSTL -- a novel Spatial Aggregation Signal Temporal Logic -- for the efficient runtime monitoring of safety and performance requirements in smart cities. We first describe a study of over 1,000 smart city requirements, some of…
Metric Temporal Logic can express temporally evolving properties with time-critical constraints or time-triggered constraints for real-time systems. This paper extends the Metric Interval Temporal Logic with a distribution eventuality…
Automatic synthesis from temporal logic specifications is an attractive alternative to manual system design, due to its ability to generate correct-by-construction implementations from high-level specifications. Due to the high complexity…
This paper investigates the online monitoring problem for cyber-physical systems under signal temporal logic (STL) specifications. The objective is to design an online monitor that evaluates system correctness at runtime based on partial…
As network traffic monitoring software for cybersecurity, malware detection, and other critical tasks becomes increasingly automated, the rate of alerts and supporting data gathered, as well as the complexity of the underlying model,…
We address the problem of synthesizing reactive controllers for cyber-physical systems subject to Signal Temporal Logic (STL) specifications in the presence of adversarial inputs. Given a finite horizon, we define a reactive hierarchy of…
This study investigates formal-method-based trajectory optimization (TO) for bipedal locomotion, focusing on scenarios where the robot encounters external perturbations at unforeseen times. Our key research question centers around the…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…
This paper explores continuous-time control synthesis for target-driven navigation to satisfy complex high-level tasks expressed as linear temporal logic (LTL). We propose a model-free framework using deep reinforcement learning (DRL) where…
Many important properties of cyber-physical systems (CPS) are defined upon the relationship between multiple executions simultaneously in continuous time. Examples include probabilistic fairness and sensitivity to modeling errors (i.e.,…
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the…
Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and control synthesis methods are limited with respect to the…