Related papers: Smooth and Exact Parameterization of Continuous-ti…
This study considers the control problem with signal temporal logic (STL) specifications. Prior works have adopted smoothing techniques to address this problem within a feasible time frame and solve the problem by applying sequential…
Real-world robotic systems must comply with safety requirements in the presence of uncertainty. To define and measure requirement adherence, Signal Temporal Logic (STL) offers a mathematically rigorous and expressive language. However,…
We present GradSTL, the first fully comprehensive implementation of signal temporal logic (STL) suitable for integration with neurosymbolic learning. In particular, GradSTL can successfully evaluate any STL constraint over any signal,…
This paper presents a sequential convex programming (SCP) framework for ensuring the continuous-time satisfaction of compound state-triggered constraints, a subset of logical specifications, in the powered descent guidance (PDG) problem.…
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 study the verification problem of stochastic systems under signal temporal logic (STL) specifications. We propose a novel approach that enables the verification of the probabilistic satisfaction of STL specifications for nonlinear…
In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's…
Linear temporal logic (LTL) has recently been adopted as a powerful formalism for specifying complex, temporally extended tasks in multi-task reinforcement learning (RL). However, learning policies that efficiently satisfy arbitrary…
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…
Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size…
We investigate how formal temporal logic specifications can enhance the safety and robustness of reinforcement learning (RL) control in aerospace applications. Using the open source AeroBench F-16 simulation benchmark, we train a Proximal…
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL…
Signal Temporal Logic (STL) offers verifiable task specifications and is crucial for safety-critical control. Yet STL planning remains challenging: exact optimization-based methods are often too slow, and learning-based methods struggle to…
This paper considers robot motion planning under temporal logic constraints in probabilistic maps obtained by semantic simultaneous localization and mapping (SLAM). The uncertainty in a map distribution presents a great challenge for…
This paper addresses the problem of learning optimal policies for satisfying signal temporal logic (STL) specifications by agents with unknown stochastic dynamics. The system is modeled as a Markov decision process, in which the states…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
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…
We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these…
Signal Temporal Logic (STL) is expressive formal language that specifies spatio-temporal requirements in robotics. Its quantitative robustness semantics can be easily integrated with optimization-based control frameworks. However, STL…
For a class of spatio-temporal tasks defined by a fragment of Signal Temporal Logic (STL), we construct a nonsmooth time-varying control barrier function (CBF) and develop a controller based on a set of simple optimization problems. Each of…