Related papers: Optimal Planning and Control under Signal Temporal…
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…
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…
This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the…
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…
This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet of multi-rotors. The proposed solution extends our previous motion planner to compute feasible and constrained…
This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain…
In this work, we focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems'…
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…
In this paper, we propose a control synthesis method for signal temporal logic (STL) specifications with neural networks (NNs). Most of the previous works consider training a controller for only a given STL specification. These approaches,…
Automatic synthesis from linear temporal logic (LTL) specifications is widely used in robotic motion planning, control of autonomous systems, and load distribution in power networks. A common specification pattern in such applications…
This study investigates formal-method-based trajectory optimization (TO) for bipedal locomotion, focusing on scenarios where the robot encounters external perturbations at unforeseen times. Our key research question centers around the…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…
This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…
We present a novel method for imitation learning for control requirements expressed using Signal Temporal Logic (STL). More concretely we focus on the problem of training a neural network to imitate a complex controller. The learning…
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…
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a…
This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into…
In this paper, we investigate the control synthesis problem for Signal Temporal Logic (STL) specifications in the presence of uncontrollable agents. Existing works mainly address this problem in a robust control setting by assuming 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…
We present a new approach for the design of a synthetic biological circuit whose behaviour is specified in terms of signal temporal logic (STL) formulae. We first show how to characterise with STL formulae the input/output behaviour of…