Related papers: Logic of Fuzzy Paths
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…
The problem of checking a logged event trace against a temporal logic specification arises in many practical cases. Unfortunately, known algorithms for an expressive logic like MTL (Metric Temporal Logic) do not scale with respect to two…
Natural language is an intuitive way for humans to communicate tasks to a robot. While natural language (NL) is ambiguous, real world tasks and their safety requirements need to be communicated unambiguously. Signal Temporal Logic (STL) is…
There are spatio-temporal rules that dictate how robots should operate in complex environments, e.g., road rules govern how (self-driving) vehicles should behave on the road. However, seamlessly incorporating such rules into a robot control…
There is a growing interest on formal methods-based robotic planning for temporal logic objectives. In this work, we extend the scope of existing synthesis methods to hyper-temporal logics. We are motivated by the fact that important…
Signal Temporal Logic (STL) is a formal language for describing a broad range of real-valued, temporal properties in cyber-physical systems. While there has been extensive research on verification and control synthesis from STL…
Traffic prediction, an essential component for intelligent transportation systems, endeavours to use historical data to foresee future traffic features at specific locations. Although existing traffic prediction models often emphasize…
In this work, we consider the problem of planning for temporal logic tasks in large robot environments. When full task compliance is unattainable, we aim to achieve the best possible task satisfaction by integrating user preferences for…
It is widely recognized today that the management of imprecision and vagueness will yield more intelligent and realistic knowledge-based applications. Description Logics (DLs) are a family of knowledge representation languages that have…
In recent years, Signal Temporal Logic (STL) has gained traction as a practical and expressive means of encoding control objectives for robotic and cyber-physical systems. The state-of-the-art in STL trajectory synthesis is to formulate the…
This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local…
Model checking linear-time properties expressed in first-order logic has non-elementary complexity, and thus various restricted logical languages are employed. In this paper we consider two such restricted specification logics, linear…
The use of spatio-temporal logics in control is motivated by the need to impose complex spatial and temporal behavior on dynamical systems, and to control these systems accordingly. Synthesizing correct-by-design control laws is a…
In this paper, we propose a sampling-based motion planning algorithm that finds an infinite path satisfying a Linear Temporal Logic (LTL) formula over a set of properties satisfied by some regions in a given environment. The algorithm has…
Learning dynamical systems properties from data provides important insights that help us understand such systems and mitigate undesired outcomes. In this work, we propose a framework for learning spatio-temporal (ST) properties as formal…
We study the temporal robustness of temporal logic specifications and show how to design temporally robust control laws for time-critical control systems. This topic is of particular interest in connected systems and interleaving processes…
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…
We study motion planning under Signal Temporal Logic (STL), a useful formalism for specifying spatial-temporal requirements. We pose STL synthesis as a trajectory optimization problem leveraging the STL robustness semantics. To obtain a…
This paper addresses the problem of temporal logic motion planning for an autonomous robot operating in an unknown environment. The objective is to enable the robot to satisfy a syntactically co-safe Linear Temporal Logic (scLTL)…
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,…