相关论文: Exact Smooth Reformulations for Trajectory Optimiz…

Natural language (NL) navigation for low-altitude unmanned aerial vehicles (UAVs) offers an intelligent and convenient solution for low-altitude aerial services by enabling an intuitive interface for non-expert operators. However, deploying…

In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's…

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).…

To express temporal properties of dense-time real-valued signals, the Signal Temporal Logic (STL) has been defined by Maler et al. The work presented a monitoring algorithm deciding the satisfiability of STL formulae on finite discrete…

We present GradSTL, the first fully comprehensive implementation of signal temporal logic (STL) suitable for integration with neurosymbolic learning. In particular, GradSTL can successfully evaluate any STL constraint over any signal,…

Signal Temporal Logic (STL) is a formalism used to rigorously specify requirements of cyberphysical systems (CPS), i.e., systems mixing digital or discrete components in interaction with a continuous environment or analog com- ponents. STL…

In runtime verification, manually formalizing a specification for monitoring system executions is a tedious and error-prone process. To address this issue, we consider the problem of automatically synthesizing formal specifications from…

This paper addresses a motion planning problem to achieve spatio-temporal-logical tasks, expressed by syntactically co-safe linear temporal logic specifications (scLTL\next), in uncertain environments. Here, the uncertainty is modeled as…

The deployment of autonomous systems in uncertain and dynamic environments has raised fundamental questions. Addressing these is pivotal to build fully autonomous systems and requires a systematic integration of planning and control. We…

This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…

Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…

There has been a growing interest in extracting formal descriptions of the system behaviors from data. Signal Temporal Logic (STL) is an expressive formal language used to describe spatial-temporal properties with interpretability. This…

This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…

The fundamental idea of this work is to synthesize reactive controllers such that closed-loop execution trajectories of the system satisfy desired specifications that ensure correct system behaviors, while optimizing a desired performance…

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…

In this work, we focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems'…

Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. This work addresses controller synthesis for continuous-time systems subject to STL…

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…

We study the problem of policy optimization (PO) with linear temporal logic (LTL) constraints. The language of LTL allows flexible description of tasks that may be unnatural to encode as a scalar cost function. We consider LTL-constrained…

One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…