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This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…
We propose a variant of the Rapidly Exploring Random Tree Star (RRT$^{\star}$) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a fragment of Signal Temporal Logic (STL) for linear systems.…
Signal Temporal Logic (STL) specifications play a crucial role in defining complex temporal properties and behaviors in safety-critical cyber-physical systems (CPS). However, fault diagnosis (FD) and fault-tolerant control (FTC) for CPS…
Signal Temporal Logic (STL) is a convenient formalism to express bounded horizon properties of autonomous critical systems. STL extends LTL to real-valued signals and associates a non-singleton bound interval to each temporal operators. In…
We investigate the task and motion planning problem for dynamical systems under signal temporal logic (STL) specifications. Existing works on STL control synthesis mainly focus on generating plans that satisfy properties over a single…
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…
Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional…
While most of the current synthesis algorithms only focus on correctness-by-construction, ensuring robustness has remained a challenge. Hence, in this paper, we address the robust-by-construction synthesis problem by considering the…
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…
This paper explores the theoretical limits of using discrete abstractions for nonlinear control synthesis. More specifically, we consider the problem of deciding continuous-time control with temporal logic specifications. We prove that…
The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of…
The reliability of autonomous systems depends on their robustness, i.e., their ability to meet their objectives under uncertainty. In this paper, we study spatiotemporal robustness of temporal logic specifications evaluated over…
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…
Learning to solve complex tasks with signal temporal logic (STL) specifications is crucial to many real-world applications. However, most previous works only consider fixed or parametrized STL specifications due to the lack of a diverse STL…
Reinforcement Learning (RL) has shown promise in various robotics applications, yet its deployment on real systems is still limited due to safety and operational constraints. The safe RL field has gained considerable attention in recent…
This paper considers unconstrained convex optimization problems with time-varying objective functions. We propose algorithms with a discrete time-sampling scheme to find and track the solution trajectory based on prediction and correction…
Explicit chain-of-thought (CoT) reasoning substantially improves the reasoning ability of large language models (LLMs), but incurs high inference cost due to lengthy autoregressive traces. Existing latent reasoning methods offer a promising…
The software architecture behind modern autonomous vehicles (AV) is becoming more complex steadily. Safety verification is now an imminent task prior to the large-scale deployment of such convoluted models. For safety-critical tasks in…
With the development of the Internet of Things, millions of sensors are being deployed in cities to collect real-time data. This leads to a need for checking city states against city requirements at runtime. In this paper, we develop a…
Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…