Related papers: Feasibility Restoration under Conflicting STL Spec…
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…
Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely used in cyber-physical systems. On the other hand, Control…
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from complex STL specifications is fundamentally…
Constraint tightening to non-conservatively guarantee recursive feasibility and stability in Stochastic Model Predictive Control is addressed. Stability and feasibility requirements are considered separately, highlighting the difference…
Metric Temporal Logic (MTL) is a prominent specification formalism for real-time systems. In this paper, we show that the satisfiability problem for MTL over finite timed words is decidable, with non-primitive recursive complexity. We also…
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…
Providing guarantees on the safe operation of robots against edge cases is challenging as testing methods such as traditional Monte-Carlo require too many samples to provide reasonable statistics. Built upon recent advancements in…
Signal Temporal Logic (STL) is a formalism used to rigorously specify requirements of cyberphysical systems (CPS), i.e., systems mixing digital or discrete components in interaction with a continuous environment or analog com- ponents. STL…
We propose a human-supervised control synthesis method for a stochastic Dubins vehicle such that the probability of satisfying a specification given as a formula in a fragment of Probabilistic Computational Tree Logic (PCTL) over a set of…
We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conventional sampling-based methods require…
We present a framework to interpret signal temporal logic (STL) formulas over discrete-time stochastic processes in terms of the induced risk. Each realization of a stochastic process either satisfies or violates an STL formula. In fact, we…
We propose a reachability-based framework for reliable LLM-guided human-autonomy teaming (HAT) using signal temporal logic (STL). In the proposed framework, LLM is leveraged as a translator that transfers natural language commands given by…
Reinforcement learning has been applied to many interesting problems such as the famous TD-gammon and the inverted helicopter flight. However, little effort has been put into developing methods to learn policies for complex persistent tasks…
We introduce a hybrid spatiotemporal logic for automotive safety applications (HSTL), focused on highway driving. Spatiotemporal logic features specifications about vehicles throughout space and time, while hybrid logic enables precise…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
When multiple agents share space, interactions can lead to deadlocks, where no agent can advance towards its goal. This paper addresses this challenge with a deadlock recovery strategy. In particular, the proposed algorithm integrates…
Most current methods for learning from demonstrations assume that those demonstrations alone are sufficient to learn the underlying task. This is often untrue, especially if extra safety specifications exist which were not present in the…
The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible…
In the field of control engineering, the connection between Signal Temporal Logic (STL) and time-varying Control Barrier Functions (CBF) has attracted considerable attention. CBFs have demonstrated notable success in ensuring the safety of…
Balancing safety, efficiency, and operational costs in highway driving poses a challenging decision-making problem for heavy-duty vehicles. A central difficulty is that conventional scalar reward formulations, obtained by aggregating these…