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Recent years have seen an increasing use of Signal Temporal Logic (STL) as a formal specification language for symbolic control, due to its expressiveness and closeness to natural language. Furthermore, STL specifications can be encoded as…
We propose a variant of the Rapidly Exploring Random Tree Star (RRT$^{\star}$) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a fragment of Signal Temporal Logic (STL) for linear systems.…
Temporal synthesis is the automated design of a system that interacts with an environment, using the declarative specification of the system's behavior. A popular language for providing such a specification is Linear Temporal Logic, or LTL.…
In this paper, we consider networks of static sensors with integrated sensing and communication capabilities. The goal of the sensors is to propagate their collected information to every other agent in the network and possibly a human…
Learning to solve complex tasks with signal temporal logic (STL) specifications is crucial to many real-world applications. However, most previous works only consider fixed or parametrized STL specifications due to the lack of a diverse STL…
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…
Signal Temporal Logic (STL) offers verifiable task specifications and is crucial for safety-critical control. Yet STL planning remains challenging: exact optimization-based methods are often too slow, and learning-based methods struggle to…
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…
We present mstlo (mistletoe), a Rust library for high-performance online monitoring of signal temporal logic (STL), with Python bindings. The library provides: (i) a unified interface for multiple STL semantics, including Robust…
A challenging problem for autonomous systems is to synthesize a reactive controller that conforms to a set of given correctness properties. Linear temporal logic (LTL) provides a formal language to specify the desired behavioral properties…
We extend Signal Temporal Logic (STL) to enable the specification of importance and priorities. The extension, called Weighted STL (wSTL), has the same qualitative (Boolean) semantics as STL, but additionally defines weights associated with…
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 controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…
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,…
In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specifically, it is still difficult for robots to adapt the learned…
Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need,…
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…
Deep Reinforcement Learning (DRL) has the potential to be used for synthesizing feedback controllers (agents) for various complex systems with unknown dynamics. These systems are expected to satisfy diverse safety and liveness properties…
We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The proposed framework ensures safe and reliable operation through…
Metric Temporal Logic can express temporally evolving properties with time-critical constraints or time-triggered constraints for real-time systems. This paper extends the Metric Interval Temporal Logic with a distribution eventuality…