Related papers: Lexicographic Minimum-Violation Motion Planning us…
Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement learning methods to find policies which guarantee…
In this paper, we investigate the problem of linear temporal logic (LTL) path planning for multi-agent systems, introducing the new concept of \emph{ordering constraints}. Specifically, we consider a generic objective function that is…
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,…
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…
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…
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…
In multi-agent systems, signal temporal logic (STL) is widely used for path planning to accomplish complex objectives with formal safety guarantees. However, as the number of agents increases, existing approaches encounter significant…
Optimizing high-level mission planning constraints is traditionally solved in exponential time and requires to split the problem into several ones, making the connections between them a convoluted task. This paper aims at generalizing…
Autonomous systems must solve motion planning problems subject to increasingly complex, time-sensitive, and uncertain missions. These problems often involve high-level task specifications, such as temporal logic or chance constraints, which…
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…
This paper presents a technique, named STLCG, to compute the quantitative semantics of Signal Temporal Logic (STL) formulas using computation graphs. STLCG provides a platform which enables the incorporation of logical specifications into…
Motion planning of an autonomous system with high-level specifications has wide applications. However, research of formal languages involving timed temporal logic is still under investigation. Furthermore, many existing results rely on a…
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).…
Multi-task learning (MTL) seeks to improve the generalized performance of learning specific tasks, exploiting useful information incorporated in related tasks. As a promising area, this paper studies an MTL-based control approach…
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…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
We present a bounded model checking algorithm for signal temporal logic (STL) that exploits mixed-integer linear programming (MILP). A key technical element is our novel MILP encoding of the STL semantics; it follows the idea of stable…
In recent years, there has been increasing interest in using formal methods-based techniques to safely achieve temporal tasks, such as timed sequence of goals, or patrolling objectives. Such tasks are often expressed in real-time logics…
This paper presents an offline motion planner for linear cyber-physical systems that satisfy a continuous-time Signal Temporal Logic (STL) specification, in which controls are applied in a Zeroth-order Hold (ZOH) manner. The motion planning…
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…