Related papers: Logic of Fuzzy Paths
In many applications, the integrals and derivatives of signals carry valuable information (e.g., cumulative success over a time window, the rate of change) regarding the behavior of the underlying system. In this paper, we extend the…
Monadic Second-Order Logic (MSO) extends First-Order Logic (FO) with variables ranging over sets and quantifications over those variables. We introduce and study Monadic Tree Logic (MTL), a fragment of MSO interpreted on infinite-tree…
Signal temporal logic (STL) provides a powerful, flexible framework for specifying complex autonomy tasks; however, existing methods for planning based on STL specifications have difficulty scaling to long-horizon tasks and are not robust…
In our previous work we have introduced the logic STL*, an extension of Signal Temporal Logic (STL) that allows value freezing. In this paper, we define robustness measures for STL* by adapting the robustness measures previously introduced…
Researchers have previously proposed augmenting Signal Temporal Logic (STL) with the value freezing operator in order to express engineering properties that cannot be expressed in STL. This augmented logic is known as STL*. The previous…
This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…
Signal temporal logic (STL) is an expressive language to specify time-bound real-world robotic tasks and safety specifications. Recently, there has been an interest in learning optimal policies to satisfy STL specifications via…
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…
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 new average-based robustness score for Signal Temporal Logic (STL) and a framework for optimal control of a dynamical system under STL constraints. By averaging the scores of different specifications or subformulae at different…
Several task and motion planning algorithms have been proposed recently to design paths for mobile robot teams with collaborative high-level missions specified using formal languages, such as Linear Temporal Logic (LTL). However, the…
Autonomous robots must operate in complex and changing environments subject to requirements on their behaviour. Verifying absolute satisfaction (true or false) of these requirements is challenging. Instead, we analyse requirements that…
Many complex scenarios require the coordination of agents possessing unique points of view and distinct semantic commitments. In response, standpoint logic (SL) was introduced in the context of knowledge integration, allowing one to reason…
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).…
In this paper we consider the specification and verification of infinite-state systems using temporal logic. In particular, we describe parameterised systems using a new variety of first-order temporal logic that is both powerful enough for…
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from complex STL specifications is fundamentally…
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…
Temporal stream logic (TSL) extends LTL with updates and predicates over arbitrary function terms. This allows for specifying data-intensive systems for which LTL is not expressive enough. In the semantics of TSL, functions and predicates…
First-order linear temporal logic (FOLTL) is a flexible and expressive formalism capable of naturally describing complex behaviors and properties. Although the logic is in general highly undecidable, the idea of using it as a specification…
Given a formula in a temporal logic such as LTL or MTL, a fundamental problem is the complexity of evaluating the formula on a given finite word. For LTL, the complexity of this task was recently shown to be in NC. In this paper, we present…