Abstract. In this paper, we consider a novel approach to the temporal logic verification problem ... more Abstract. In this paper, we consider a novel approach to the temporal logic verification problem of continuous dynamical systems. Our methodology has the distinctive feature that enables the verification of the temporal properties of a continuous system by verifying only a finite number of its (simulated) trajectories. The proposed framework comprises two main ideas. First, we take advantage of the fact that in metric spaces we can quantify how close are two different states.
Abstract Robot motion planning algorithms have focused on low-level reachability goals taking int... more Abstract Robot motion planning algorithms have focused on low-level reachability goals taking into account robot kinematics, or on high level task planning while ignoring low-level dynamics. In this paper, we present an integrated approach to the design of closed–loop hybrid controllers that guarantee by construction that the resulting continuous robot trajectories satisfy sophisticated specifications expressed in the so–called Linear Temporal Logic.
Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion... more Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its close relationship with fragments of natural language. In this paper, we take the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain. For this purpose, we built a structured English language which maps directly to a fragment of LTL.
Abstract In this paper, we consider the problem of robot motion planning in order to satisfy form... more Abstract In this paper, we consider the problem of robot motion planning in order to satisfy formulas expressible in temporal logics. Temporal logics naturally express traditional robot specifications such as reaching a goal or avoiding an obstacle, but also more sophisticated specifications such as sequencing, coverage, or temporal ordering of different tasks. In order to provide computational solutions to this problem, we first construct discrete abstractions of robot motion based on some environmental decomposition.
Abstract Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task a... more Abstract Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its close relationship with fragments of natural language. In this paper, we take the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain. For this purpose, we built a structured English language which maps directly to a fragment of LTL.
Real-time temporal logic reasoning about trajectories of physical systems necessitates models of ... more Real-time temporal logic reasoning about trajectories of physical systems necessitates models of time which are continuous. However, discrete time temporal logic reasoning is computationally more efficient than continuous time. Moreover, in a number of engineering applications only discrete time models are available for analysis. In this paper, we introduce a framework for testing MITL specifications on continuous time signals using only discrete time analysis.
Abstract Recent years have seen rapidly growing interest in the development of networks of multip... more Abstract Recent years have seen rapidly growing interest in the development of networks of multiple unmanned aerial vehicles (UAVs), as aerial sensor networks for the purpose of coordinated monitoring, surveillance, and rapid emergency response. This has triggered a great deal of research in higher levels of planning and control, including collaborative sensing and exploration, synchronized motion planning, and formation or cooperative control.
Abstract—As robots are being integrated into our daily lives, it becomes necessary to provide gua... more Abstract—As robots are being integrated into our daily lives, it becomes necessary to provide guarantees of safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the requirements are expressed as temporal logic specifications. However, in real-life scenarios, it is to be expected that not all user task requirements can be realized by the robot.
Abstract: In this paper, we address the problem of local search for the falsification of hybrid a... more Abstract: In this paper, we address the problem of local search for the falsification of hybrid automata with affine dynamics. Namely, if we are given a sequence of locations and a maximum simulation time, we return the trajectory that comes the closest to the unsafe set. In order to solve this problem, we formulate it as a differentiable optimization problem which we solve using Sequential Quadratic Programming.
Abstract In this paper, we introduce the problem of automatic formula revision for Linear Tempora... more Abstract In this paper, we introduce the problem of automatic formula revision for Linear Temporal Logic (LTL) motion planning specifications. Namely, if a specification cannot be satisfied on a particular environment, our framework returns information to the user regarding (i) why the specification cannot be satisfied and (ii) how the specification can be modified so it can become satisfiable.
In this paper, we address the problem of local search for the falsification of hybrid automata wi... more In this paper, we address the problem of local search for the falsification of hybrid automata with affine dynamics. Namely, given a sequence of locations and a maximum simulation time, we return the trajectory that comes closest to the unsafe set. This problem is formulated as a differentiable optimization problem and solved.
In this paper, we investigate formalisms for specifying periodic signals using time and frequency... more In this paper, we investigate formalisms for specifying periodic signals using time and frequency domain specifications along with algorithms for the signal recognition and generation problems for such specifications. The time domain specifications are in the form of hybrid automata whose continuous state variables generate the desired signals. The frequency domain specifications take the form of an “envelope” that constrains the possible power spectra of the periodic signals with a given frequency cutoff.
Abstract—We present a model-based approach to synthesizing insulin infusion pump usage parameters... more Abstract—We present a model-based approach to synthesizing insulin infusion pump usage parameters against varying meal scenarios and physiological conditions. Insulin infusion pumps are commonly used by type-1 diabetic patients to control their blood glucose levels. The amounts of insulin to be infused are calculated based on parameters such as insulin-to-carbohydrate ratios and correction factors that need to be calibrated carefully for each patient.
Abstract. In Model Based Development (MBD) of embedded systems, it is often desirable to not only... more Abstract. In Model Based Development (MBD) of embedded systems, it is often desirable to not only verify/falsify certain formal system specifications, but also to automatically explore the properties that the system satisfies. Namely, given a parametric specification, we would like to automatically infer the ranges of parameters for which the property holds/does not hold on the system. In this paper, we consider parametric specifications in Metric Temporal Logic (MTL).
Abstract One of the important challenges in robotics is the automatic synthesis of provably corre... more Abstract One of the important challenges in robotics is the automatic synthesis of provably correct controllers from high level specifications. One class of such algorithms operates in two steps:(i) high level discrete controller synthesis and (ii) low level continuous controller synthesis. In this class of algorithms, when phase (i) fails, then it is desirable to provide feedback to the designer in the form of revised specifications that can be achieved by the system.
Abstract This paper deals with the robust metric temporal logic (MTL) testing and verification of... more Abstract This paper deals with the robust metric temporal logic (MTL) testing and verification of linear systems with parametric uncertainties. This is a very general class of systems that includes not only linear time invariant (LTI) systems with unknown constant parameters, but also linear time varying (LTV) systems and certain classes of nonlinear systems through abstraction. The two main tools for the solution of this problem are the approximate bisimulation relations and a notion of robustness for temporal logic formulas.
Abstract The Extended Ant Colony Optimization (EACO) metaheuristic is applied to the problem of M... more Abstract The Extended Ant Colony Optimization (EACO) metaheuristic is applied to the problem of Metric Temporal Logic (MTL) falsification of nonautonomous hybrid systems. The goal of the MTL falsification problem is to detect operating conditions and input signals that will generate system trajectories that do not satisfy a user provided specification in MTL.
Abstract Nowadays computer systems have become ubiquitous. Most of the resources in the developme... more Abstract Nowadays computer systems have become ubiquitous. Most of the resources in the development of such systems, and especially in the fail-safe ones, are allocated into the simulation and verification of their behavior. One such automated method of verification is model checking. Given a mathematical description of the real system and a specification usually in the form of temporal logics, a model checker verifies whether the specification is satisfied on the model of the system.
Testing is an important tool for validation of the system design and its implementation. Model-ba... more Testing is an important tool for validation of the system design and its implementation. Model-based test generation allows to systematically ascertain whether the system meets its design requirements, particularly the safety and correctness requirements of the system. In this paper, we develop a framework for generating tests from hybrid systems' models. The core idea of the framework is to develop a notion of robust test, where one nominal test can be guaranteed to yield the same qualitative behavior with any other test that is close to it.
Abstract. TaLiRo (TemporAl LogIc RObustness) is a tool for the computation of the robustness of a... more Abstract. TaLiRo (TemporAl LogIc RObustness) is a tool for the computation of the robustness of a propositional temporal logic specification with respect to a discrete time signal. This document provides a brief introduction to Linear and Metric Temporal Logics, describes the usage of the toolbox and concludes with several examples. This guide refers to version v0. 1 of TaLiRo.
Abstract. In this paper, we consider a novel approach to the temporal logic verification problem ... more Abstract. In this paper, we consider a novel approach to the temporal logic verification problem of continuous dynamical systems. Our methodology has the distinctive feature that enables the verification of the temporal properties of a continuous system by verifying only a finite number of its (simulated) trajectories. The proposed framework comprises two main ideas. First, we take advantage of the fact that in metric spaces we can quantify how close are two different states.
Abstract Robot motion planning algorithms have focused on low-level reachability goals taking int... more Abstract Robot motion planning algorithms have focused on low-level reachability goals taking into account robot kinematics, or on high level task planning while ignoring low-level dynamics. In this paper, we present an integrated approach to the design of closed–loop hybrid controllers that guarantee by construction that the resulting continuous robot trajectories satisfy sophisticated specifications expressed in the so–called Linear Temporal Logic.
Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion... more Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its close relationship with fragments of natural language. In this paper, we take the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain. For this purpose, we built a structured English language which maps directly to a fragment of LTL.
Abstract In this paper, we consider the problem of robot motion planning in order to satisfy form... more Abstract In this paper, we consider the problem of robot motion planning in order to satisfy formulas expressible in temporal logics. Temporal logics naturally express traditional robot specifications such as reaching a goal or avoiding an obstacle, but also more sophisticated specifications such as sequencing, coverage, or temporal ordering of different tasks. In order to provide computational solutions to this problem, we first construct discrete abstractions of robot motion based on some environmental decomposition.
Abstract Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task a... more Abstract Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its close relationship with fragments of natural language. In this paper, we take the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain. For this purpose, we built a structured English language which maps directly to a fragment of LTL.
Real-time temporal logic reasoning about trajectories of physical systems necessitates models of ... more Real-time temporal logic reasoning about trajectories of physical systems necessitates models of time which are continuous. However, discrete time temporal logic reasoning is computationally more efficient than continuous time. Moreover, in a number of engineering applications only discrete time models are available for analysis. In this paper, we introduce a framework for testing MITL specifications on continuous time signals using only discrete time analysis.
Abstract Recent years have seen rapidly growing interest in the development of networks of multip... more Abstract Recent years have seen rapidly growing interest in the development of networks of multiple unmanned aerial vehicles (UAVs), as aerial sensor networks for the purpose of coordinated monitoring, surveillance, and rapid emergency response. This has triggered a great deal of research in higher levels of planning and control, including collaborative sensing and exploration, synchronized motion planning, and formation or cooperative control.
Abstract—As robots are being integrated into our daily lives, it becomes necessary to provide gua... more Abstract—As robots are being integrated into our daily lives, it becomes necessary to provide guarantees of safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the requirements are expressed as temporal logic specifications. However, in real-life scenarios, it is to be expected that not all user task requirements can be realized by the robot.
Abstract: In this paper, we address the problem of local search for the falsification of hybrid a... more Abstract: In this paper, we address the problem of local search for the falsification of hybrid automata with affine dynamics. Namely, if we are given a sequence of locations and a maximum simulation time, we return the trajectory that comes the closest to the unsafe set. In order to solve this problem, we formulate it as a differentiable optimization problem which we solve using Sequential Quadratic Programming.
Abstract In this paper, we introduce the problem of automatic formula revision for Linear Tempora... more Abstract In this paper, we introduce the problem of automatic formula revision for Linear Temporal Logic (LTL) motion planning specifications. Namely, if a specification cannot be satisfied on a particular environment, our framework returns information to the user regarding (i) why the specification cannot be satisfied and (ii) how the specification can be modified so it can become satisfiable.
In this paper, we address the problem of local search for the falsification of hybrid automata wi... more In this paper, we address the problem of local search for the falsification of hybrid automata with affine dynamics. Namely, given a sequence of locations and a maximum simulation time, we return the trajectory that comes closest to the unsafe set. This problem is formulated as a differentiable optimization problem and solved.
In this paper, we investigate formalisms for specifying periodic signals using time and frequency... more In this paper, we investigate formalisms for specifying periodic signals using time and frequency domain specifications along with algorithms for the signal recognition and generation problems for such specifications. The time domain specifications are in the form of hybrid automata whose continuous state variables generate the desired signals. The frequency domain specifications take the form of an “envelope” that constrains the possible power spectra of the periodic signals with a given frequency cutoff.
Abstract—We present a model-based approach to synthesizing insulin infusion pump usage parameters... more Abstract—We present a model-based approach to synthesizing insulin infusion pump usage parameters against varying meal scenarios and physiological conditions. Insulin infusion pumps are commonly used by type-1 diabetic patients to control their blood glucose levels. The amounts of insulin to be infused are calculated based on parameters such as insulin-to-carbohydrate ratios and correction factors that need to be calibrated carefully for each patient.
Abstract. In Model Based Development (MBD) of embedded systems, it is often desirable to not only... more Abstract. In Model Based Development (MBD) of embedded systems, it is often desirable to not only verify/falsify certain formal system specifications, but also to automatically explore the properties that the system satisfies. Namely, given a parametric specification, we would like to automatically infer the ranges of parameters for which the property holds/does not hold on the system. In this paper, we consider parametric specifications in Metric Temporal Logic (MTL).
Abstract One of the important challenges in robotics is the automatic synthesis of provably corre... more Abstract One of the important challenges in robotics is the automatic synthesis of provably correct controllers from high level specifications. One class of such algorithms operates in two steps:(i) high level discrete controller synthesis and (ii) low level continuous controller synthesis. In this class of algorithms, when phase (i) fails, then it is desirable to provide feedback to the designer in the form of revised specifications that can be achieved by the system.
Abstract This paper deals with the robust metric temporal logic (MTL) testing and verification of... more Abstract This paper deals with the robust metric temporal logic (MTL) testing and verification of linear systems with parametric uncertainties. This is a very general class of systems that includes not only linear time invariant (LTI) systems with unknown constant parameters, but also linear time varying (LTV) systems and certain classes of nonlinear systems through abstraction. The two main tools for the solution of this problem are the approximate bisimulation relations and a notion of robustness for temporal logic formulas.
Abstract The Extended Ant Colony Optimization (EACO) metaheuristic is applied to the problem of M... more Abstract The Extended Ant Colony Optimization (EACO) metaheuristic is applied to the problem of Metric Temporal Logic (MTL) falsification of nonautonomous hybrid systems. The goal of the MTL falsification problem is to detect operating conditions and input signals that will generate system trajectories that do not satisfy a user provided specification in MTL.
Abstract Nowadays computer systems have become ubiquitous. Most of the resources in the developme... more Abstract Nowadays computer systems have become ubiquitous. Most of the resources in the development of such systems, and especially in the fail-safe ones, are allocated into the simulation and verification of their behavior. One such automated method of verification is model checking. Given a mathematical description of the real system and a specification usually in the form of temporal logics, a model checker verifies whether the specification is satisfied on the model of the system.
Testing is an important tool for validation of the system design and its implementation. Model-ba... more Testing is an important tool for validation of the system design and its implementation. Model-based test generation allows to systematically ascertain whether the system meets its design requirements, particularly the safety and correctness requirements of the system. In this paper, we develop a framework for generating tests from hybrid systems' models. The core idea of the framework is to develop a notion of robust test, where one nominal test can be guaranteed to yield the same qualitative behavior with any other test that is close to it.
Abstract. TaLiRo (TemporAl LogIc RObustness) is a tool for the computation of the robustness of a... more Abstract. TaLiRo (TemporAl LogIc RObustness) is a tool for the computation of the robustness of a propositional temporal logic specification with respect to a discrete time signal. This document provides a brief introduction to Linear and Metric Temporal Logics, describes the usage of the toolbox and concludes with several examples. This guide refers to version v0. 1 of TaLiRo.
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