Related papers: Signal Temporal Logic Verification and Synthesis U…
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…
Behavior Trees (BTs) provide designers an intuitive graphical interface to construct long-horizon plans for autonomous systems. To ensure their correctness and safety, rigorous formal models and verification techniques are essential.…
Autonomous vehicles are complex systems that are challenging to test and debug. A requirements-driven approach to the development process can decrease the resources required to design and test these systems, while simultaneously increasing…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…
Although it is widely accepted that every system should be robust, in the sense that "small" violations of environment assumptions should lead to "small" violations of system guarantees, it is less clear how to make this intuitive notion of…
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 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…
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…
In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnected systems. By leveraging the idea of funnel-based control,…
In this work, we present a novel robustness measure for continuous-time stochastic trajectories with respect to Signal Temporal Logic (STL) specifications. We show the soundness of the measure and develop a monitor for reasoning about…
A challenging problem for autonomous systems is to synthesize a reactive controller that conforms to a set of given correctness properties. Linear temporal logic (LTL) provides a formal language to specify the desired behavioral properties…
Natural language (NL) navigation for low-altitude unmanned aerial vehicles (UAVs) offers an intelligent and convenient solution for low-altitude aerial services by enabling an intuitive interface for non-expert operators. However, deploying…
Urban Air Mobility (UAM), or the scenario where multiple manned and Unmanned Aerial Vehicles (UAVs) carry out various tasks over urban airspaces, is a transportation concept of the future that is gaining prominence. UAM missions with…
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…
Modern cyber-physical systems are complex, and requirements are often written in Signal Temporal Logic (STL). Writing the right STL is difficult in practice; engineers benefit from concrete executions that illustrate what a specification…
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…
Cyber-attacks can have severe impacts on critical infrastructures, from outages to economical loss and physical damage to people and environment. One of the main targets of these attacks is the smart grid. In this paper, we propose a new…
Offline safe reinforcement learning (RL) aims to train a constraint satisfaction policy from a fixed dataset. Current state-of-the-art approaches are based on supervised learning with a conditioned policy. However, these approaches fall…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
This paper presents algorithms for performing data-driven reachability analysis under temporal logic side information. In certain scenarios, the data-driven reachable sets of a robot can be prohibitively conservative due to the inherent…