Related papers: Reachability-based Temporal Logic Verification for…
We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The proposed framework ensures safe and reliable operation through…
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…
Linear Temporal Logic (LTL) is a widely used task specification language for autonomous systems. To mitigate the significant manual effort and expertise required to define LTL-encoded tasks, several methods have been proposed for…
A framework is presented for the verification of Signal Temporal Logic (STL) specifications over continuous-time nonlinear systems under uncertainty. Based on reachability analysis, the proposed method addresses indeterminate satisfaction…
Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…
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…
Signal Temporal Logic (STL) is an expressive formal language for specifying spatio-temporal requirements over real-valued, real-time signals. It has been widely used for the verification and synthesis of autonomous systems and…
We propose algorithms for performing model checking and control synthesis for discrete-time uncertain systems under linear temporal logic (LTL) specifications. We construct temporal logic trees (TLT) from LTL formulae via reachability…
In this paper, we introduce a hybrid zonotope-based approach for formally verifying the behavior of autonomous systems operating under Linear Temporal Logic (LTL) specifications. In particular, we formally verify the LTL formula by…
Signal Temporal Logic (STL) is widely used to specify timed and safety-critical tasks for cyber-physical systems, but writing STL formulas directly is difficult for non-expert users. Natural language (NL) provides a convenient interface,…
Much of the recent work developing formal methods techniques to specify or learn the behavior of autonomous systems is predicated on a belief that formal specifications are interpretable and useful for humans when checking systems. Though…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
Effectively translating between natural language (NL) and formal logics like Linear Temporal Logic (LTL) requires expertise that limits formal verification's reach in safety-critical development. Template-based approaches sacrifice…
While reachability analysis is one of the most promising approaches for formal verification of dynamic systems, a major disadvantage preventing a more widespread application is the requirement to manually tune algorithm parameters such as…
To make robots accessible to a broad audience, it is critical to endow them with the ability to take universal modes of communication, like commands given in natural language, and extract a concrete desired task specification, defined using…
Signal Temporal Logic (STL) is a formal language for specifying real-time behaviors of cyber-physical systems (CPS). Automatically transforming natural language requirements into STL specifications has received growing attention. Recent…
Robot swarms promise scalable assistance in complex and hazardous environments. Task planning lies at the core of human-swarm collaboration, translating the operator's intent into coordinated swarm actions and helping determine when…
While Temporal Logic provides a rigorous verification framework for robotics, it typically operates on trajectory-level signals and does not natively represent the object-centric geometric relations that are central to manipulation.…
Signal Temporal Logic (STL) is a widely recognized formal specification language to express rigorous temporal requirements on mixed analog signals produced by cyber-physical systems (CPS). A relevant problem in CPS design is how to…
Large Language Models (LLMs) have shown impressive performance in mathematical reasoning tasks when guided by Chain-of-Thought (CoT) prompting. However, they tend to produce highly confident yet incorrect outputs, which poses significant…