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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 this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
This paper presents a new approach to design verified compositions of Neural Network (NN) controllers for autonomous systems with tasks captured by Linear Temporal Logic (LTL) formulas. Particularly, the LTL formula requires the system to…
We introduce transductive program synthesis, a new formulation of the program synthesis task that explicitly leverages test inputs during synthesis. While prior approaches to program synthesis--whether based on natural language descriptions…
We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…
Reinforcement learning (RL) depends critically on the choice of reward functions used to capture the de- sired behavior and constraints of a robot. Usually, these are handcrafted by a expert designer and represent heuristics for relatively…
In this paper, we consider the problem of optimally allocating tasks, expressed as global Linear Temporal Logic (LTL) specifications, to teams of heterogeneous mobile robots. The robots are classified in different types that capture their…
We develop a novel decentralized control method for a network of perturbed linear systems with dynamical couplings subject to Signal Temporal Logic (STL) specifications. We first transform the STL requirements into set containment problems…
Cyber-physical systems are conducting increasingly complex tasks, which are often modeled using formal languages such as temporal logic. The system's ability to perform the required tasks can be curtailed by malicious adversaries that mount…
We consider multistage stochastic optimization problems involving multiple units. Each unit is a (small) control system. Static constraints couple units at each stage. We present a mix of spatial and temporal decompositions to tackle such…
We introduce a new approach for the synthesis of Mealy machines from specifications in linear-time temporal logic (LTL), where the number of cycles in the state graph of the implementation is limited by a given bound. Bounding the number of…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
Linear Temporal Logic (LTL) is the standard specification language for reactive systems and is successfully applied in industrial settings. However, many shortcomings of LTL have been identified in the literature, among them the limited…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…
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…
Hybrid games model cyber-physical systems (CPS), like cars, trains, and airplanes, where discrete control decisions interact with continuous physical dynamics. We use Large Language Models (LLMs) to scale formal verification and synthesis…
Tasks with complex temporal structures and long horizons pose a challenge for reinforcement learning agents due to the difficulty in specifying the tasks in terms of reward functions as well as large variances in the learning signals. We…
Controller synthesis is a formal method approach for automatically generating Labeled Transition System (LTS) controllers that satisfy specified properties. The efficiency of the synthesis process, however, is critically dependent on…
Most algorithms for the synthesis of reactive systems focus on the construction of finite-state machines rather than actual programs. This often leads to badly structured, unreadable code. In this paper, we present a bounded synthesis…
The verification and validation of cyber-physical systems is known to be a difficult problem due to the different modeling abstractions used for control components and for software components. A recent trend to address this difficulty is to…