Linear temporal logic ≈ Linear temporal logic
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Control Barrier Functions for Signal Temporal Logic Tasks Open
The need for computationally-efficient control methods of dynamical systems under temporal logic tasks has recently become more apparent. Existing methods are computationally demanding and hence often not applicable in practice. Especially…
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Robust temporal logic model predictive control Open
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…
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Formal Methods for Control Synthesis: An Optimization Perspective Open
In control theory, complicated dynamics such as systems of (nonlinear) differential equations are controlled mostly to achieve stability. This fundamental property, which can be with respect to a desired operating point or a prescribed tra…
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Synthesis for LTL and LDL on finite traces Open
In this paper, we study synthesis from logical specifications over finite traces expressed in LTLf and its extension LDLf. Specifically, in this form of synthesis, propositions are partitioned in controllable and uncontrollable ones, and t…
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Multi-Agent Motion Planning From Signal Temporal Logic Specifications Open
We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion p…
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Learning Interpretable Models Expressed in Linear Temporal Logic Open
We examine the problem of learning models that characterize the high-level behavior of a system based on observation traces. Our aim is to develop models that are human interpretable. To this end, we introduce the problem of learning a Lin…
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Monitoring mobile and spatially distributed cyber-physical systems Open
Cyber-Physical Systems~(CPS) consist of collaborative, networked and tightly\nintertwined computational (logical) and physical components, each operating at\ndifferent spatial and temporal scales. Hence, the spatial and temporal\nrequireme…
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Applying Model Checking to Industrial-Sized PLC Programs Open
Programmable Logic Controllers (PLCs) are embedded computers widely used in industrial control systems. Ensuring that a PLC software complies with its specification is a challenging task. Formal verification has become a recommended practi…
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Non-Deterministic Planning with Temporally Extended Goals: LTL over Finite and Infinite Traces Open
Temporally extended goals are critical to the specification of a diversity of real-world planning problems. Here we examine the problem of non-deterministic planning with temporally extended goals specified in linear temporal logic (LTL), …
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TeSSLa: Temporal Stream-Based Specification Language Open
Runtime verification is concerned with monitoring program traces. In particular, stream runtime verification (SRV) takes the program trace as input streams and incrementally derives output streams. SRV can check logical properties and comp…
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GR(1) synthesis for LTL specification patterns Open
Reactive synthesis is an automated procedure to obtain a correct-by-construction reactive system from its temporal logic specification. Two of the main challenges in bringing reactive synthesis to software engineering practice are its very…
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Barrier Function Based Collaborative Control of Multiple Robots Under Signal Temporal Logic Tasks Open
Motivated by the recent interest in cyber-physicaland autonomous robotic systems, we study the problem ofdynamically coupled multi-agent systems under a set of signaltemporal logic tasks. In particular, the satisfaction of each ofthese sig…
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Probabilistic planning with formal performance guarantees for mobile service robots Open
We present a framework for mobile service robot task planning and execution, based on the use of probabilistic verification techniques for the generation of optimal policies with attached formal performance guarantees. Our approach is base…
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Robust Model Predictive Control for Signal Temporal Logic Synthesis Open
Most automated systems operate in uncertain or adversarial conditions, and have to be capable of reliably reacting to changes in the environment. The focus of this paper is on automatically synthesizing reactive controllers for cyber-physi…
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Querying Log Data with Metric Temporal Logic Open
We propose a novel framework for ontology-based access to temporal log data using a datalog extension datalogMTL of the Horn fragment of the metric temporal logic MTL. We show that datalogMTL is EXPSPACE-complete even with punctual i…
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Ontology-Based Data Access with a Horn Fragment of Metric Temporal Logic Open
We advocate datalogMTL, a datalog extension of a Horn fragment of the metric temporal logic MTL, as a language for ontology-based access to temporal log data. We show that datalogMTL is EXPSPACE-complete even with punctual intervals, in wh…
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Finite LTL Synthesis as Planning Open
LTL synthesis is the task of generating a strategy that satisfies a Linear Temporal Logic (LTL) specification interpreted over infinite traces. In this paper we examine the problem of LTLf synthesis, a variant of LTL synthesis where the sp…
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This Time the Robot Settles for a Cost: A Quantitative Approach to Temporal Logic Planning with Partial Satisfaction Open
The specification of complex motion goals through temporal logics is increasingly favored in robotics to narrow the gap between task and motion planning. A major limiting factor of such logics, however, is their Boolean satisfaction condit…
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Prescribed performance control for signal temporal logic specifications Open
Motivated by the recent interest in formal methods-based control for dynamic robots, we discuss the applicability of prescribed performance control to nonlinear systems subject to signal temporal logic specifications. Prescribed performanc…
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Bayesian Inference of Linear Temporal Logic Specifications for Contrastive Explanations Open
Temporal logics are useful for providing concise descriptions of system behavior, and have been successfully used as a language for goal definitions in task planning. Prior works on inferring temporal logic specifications have focused on "…
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An introduction to differential linear logic: proof-nets, models and antiderivatives Open
Differential linear logic enriches linear logic with additional logical rules for the exponential connectives, dual to the usual rules of dereliction, weakening and contraction. We present a proof-net syntax for differential linear logic a…
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Linear temporal logic motion planning for teams of underactuated robots using satisfiability modulo convex programming Open
We present an efficient algorithm for multi-robot motion planning from linear temporal logic (LTL) specifications. We assume that the dynamics of each robot can be described by a discrete-time, linear system together with constraints on th…
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Cooperative task planning of multi-agent systems under timed temporal specifications Open
In this paper the problem of cooperative taskplanning of multi-agent systems when timed constraints areimposed to the system is investigated. We consider timedconstraints given by Metric Interval Temporal Logic (MITL).We propose a method f…
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Compositional Approach to Translate LTLf/LDLf into Deterministic Finite Automata Open
The translation from temporal logics to automata is the workhorse algorithm of several techniques in computer science and AI, such as reactive synthesis, reasoning about actions, FOND planning with temporal specifications, and reinforcemen…
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Transfer of Temporal Logic Formulas in Reinforcement Learning Open
Transferring high-level knowledge from a source task to a target task is an effective way to expedite reinforcement learning (RL). For example, propositional logic and first-order logic have been used as representations of such knowledge. …
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Rabinizer 4: From LTL to Your Favourite Deterministic Automaton Open
We present Rabinizer 4, a tool set for translating formulae of linear temporal logic to different types of deterministic $$\omega $$ -automata. The tool set implements and optimizes several recent constructions, including the first impleme…
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Pure-Past Linear Temporal and Dynamic Logic on Finite Traces Open
We review PLTLf and PLDLf, the pure-past versions of the well-known logics on finite traces LTLf and LDLf, respectively. PLTLf and PLDLf are logics about the past, and so scan the trace backwards from the end towards the beginning. Because…
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Distributed Multi-Agent Persistent Surveillance Under Temporal Logic Constraints Open
We consider the problem of finding optimal agent trajectories for persistent surveillance missions subject to temporal logic (TL) constraints. Specifically, we aim to minimize the time between two consecutive visits to regions of interest …
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Satisfiability Checking for Mission-Time LTL Open
Mission-time LTL (MLTL) is a bounded variant of MTL over naturals designed to generically specify requirements for mission-based system operation common to aircraft, spacecraft, vehicles, and robots. Despite the utility of MLTL as a specif…
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Reducing liveness to safety in first-order logic Open
We develop a new technique for verifying temporal properties of infinite-state (distributed) systems. The main idea is to reduce the temporal verification problem to the problem of verifying the safety of infinite-state systems expressed i…