Related papers: An Operator-Based Approach to STL
We propose a new robustness score for continuous-time Signal Temporal Logic (STL) specifications. Instead of considering only the most severe point along the evolution of the signal, we use average scores to extract more information from…
Linear temporal logic (LTL) has recently been adopted as a powerful formalism for specifying complex, temporally extended tasks in multi-task reinforcement learning (RL). However, learning policies that efficiently satisfy arbitrary…
While Golog is an expressive programming language to control the high-level behavior of a robot, it is often tedious to use on a real robotic system. On an actual robot, the user needs to consider low-level details, such as enabling and…
Metric Temporal Logic (MTL) is a popular formalism to specify temporal patterns with timing constraints over the behavior of cyber-physical systems with application areas ranging in property-based testing, robotics, optimization, and…
Neural network-based policies have demonstrated success in many robotic applications, but often lack human-explanability, which poses challenges in safety-critical deployments. To address this, we propose a neuro-symbolic explanation…
Ensuring that agents satisfy safety specifications can be crucial in safety-critical environments. While methods exist for controller synthesis with safe temporal specifications, most existing methods restrict safe temporal specifications…
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…
We reformulate the signal temporal logic (STL) synthesis problem as a maximum a-posteriori (MAP) inference problem. To this end, we introduce the notion of random STL~(RSTL), which extends deterministic STL with random predicates. This new…
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…
In spatially located, large scale systems, time and space dynamics interact and drives the behaviour. Examples of such systems can be found in many smart city applications and Cyber-Physical Systems. In this paper we present the Signal…
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional…
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…
Runtime monitoring is commonly used to detect the violation of desired properties in safety critical cyber-physical systems by observing its executions. Bauer et al. introduced an influential framework for monitoring Linear Temporal Logic…
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…
Multi-Task Learning (MTL) is a powerful technique that has gained popularity due to its performance improvement over traditional Single-Task Learning (STL). However, MTL is often challenging because there is an exponential number of…
In this paper we present a grammar and control synthesis framework for online modification of Event-based Signal Temporal Logic (STL) specifications, during execution. These modifications allow a user to change the robots' task in response…
This paper introduces time window temporal logic (TWTL), a rich expressivity language for describing various time bounded specifications. In particular, the syntax and semantics of TWTL enable the compact representation of serial tasks,…
The synthesis of reactive systems from linear temporal logic (LTL) specifications is an important aspect in the design of reliable software and hardware. We present our adaption of the classic automata-theoretic approach to LTL synthesis,…
This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the motion of the agents in the workspace is abstracted into…
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…