Related papers: Feasibility Restoration under Conflicting STL Spec…
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…
This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", to integrate signal temporal logic (STL) specifications into efficient mixed-binary linear programmings. In this framework, temporal…
The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents' a-priori unknown behavior. Existing works have considered the problem where either all agents are…
In this paper the reversibility of executable Interval Temporal Logic (ITL) specifications is investigated. ITL allows for the reasoning about systems in terms of behaviours which are represented as non-empty sequences of states. It allows…
Continual learning aims to learn multiple tasks sequentially. A key challenge in continual learning is balancing between two objectives: retaining knowledge from old tasks (stability) and adapting to new tasks (plasticity). Experience…
This work introduces a preference learning method that ensures adherence to given specifications, with an application to autonomous vehicles. Our approach incorporates the priority ordering of Signal Temporal Logic (STL) formulas describing…
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…
Autonomous systems increasingly rely on human feedback to align their behavior, expressed as pairwise comparisons, rankings, or demonstrations. While existing methods can adapt behaviors, they often fail to guarantee safety in…
We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of…
Time-series data can represent the behaviors of autonomous systems, such as drones and self-driving cars. The task of binary and multi-class classification for time-series data has become a prominent area of research. Neural networks…
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…
Temporal logic inference is the process of extracting formal descriptions of system behaviors from data in the form of temporal logic formulas. The existing temporal logic inference methods mostly neglect uncertainties in the data, which…
Temporal logic specifications play an important role in a wide range of software analysis tasks, such as model checking, automated synthesis, program comprehension, and runtime monitoring. Given a set of positive and negative examples,…
This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL)…
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…
Signal Temporal Logic (STL) provides a convenient way of encoding complex control objectives for robotic and cyber-physical systems. The state-of-the-art in trajectory synthesis for STL is based on Mixed-Integer Convex Programming (MICP).…
Many Cyber Physical System (CPS) work in a safety-critical environment, where correct execution, reliability and trustworthiness are essential. Signal Temporal Logic (STL) provides a formal framework for checking safety-critical CPS.…
We propose an architecture for integrating high-level, human-provided safety rules and operator-aligned semantic preferences into autonomous robot navigation in unstructured outdoor environments. In our approach, natural-language rules are…
In runtime verification, manually formalizing a specification for monitoring system executions is a tedious and error-prone process. To address this issue, we consider the problem of automatically synthesizing formal specifications from…
Linear temporal logic (LTL) is a specification language for finite sequences (called traces) widely used in program verification, motion planning in robotics, process mining, and many other areas. We consider the problem of learning LTL…