Deep Reinforcement Learning Under Signal Temporal Logic Constraints Using Lagrangian Relaxation
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3218216
Abstract: Deep reinforcement learning (DRL) has attracted much attention as an approach to solve optimal control problems without mathematical models of systems. On the other hand, in general, constraints may be imposed on optimal control problems.… read more here.
Keywords: reinforcement learning; signal temporal; deep reinforcement; control ... See more keywords
Causal Signal Temporal Logic for the Environmental Control and Life Support System’s Fault Analysis and Explanation
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Access"
DOI: 10.1109/access.2023.3246512
Abstract: Modern cyber-physical systems would often fall victim to unanticipated anomalies. Humans are still required in many operations to troubleshoot and respond to such anomalies, such those in future deep space habitats. To maximize the effectiveness… read more here.
Keywords: system; causal signal; signal temporal; environmental control ... See more keywords
Control Barrier Functions for Signal Temporal Logic Tasks
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2018.2853182
Abstract: 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 with respect to multi-robot… read more here.
Keywords: control; control barrier; logic tasks; signal temporal ... See more keywords
Power Line Inspection Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3068114
Abstract: A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this letter. The planner allows the formulation… read more here.
Keywords: power line; inspection tasks; signal temporal; temporal logic ... See more keywords
Learning From Demonstrations Using Signal Temporal Logic in Stochastic and Continuous Domains
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3092676
Abstract: Learning control policies that are safe, robust and interpretable are prominent challenges in developing robotic systems. Learning-from-demonstrations with formal logic is an arising paradigm in reinforcement learning to estimate rewards and extract robot control policies… read more here.
Keywords: demonstrations using; logic stochastic; learning demonstrations; signal temporal ... See more keywords
Cooperative Object Manipulation Under Signal Temporal Logic Tasks and Uncertain Dynamics
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3200760
Abstract: We address the problem of cooperative manipulation of an object whose tasks are specified by a Signal Temporal Logic (STL) formula. We employ the Prescribed Performance Control (PPC) methodology to guarantee predefined transient and steady-state… read more here.
Keywords: cooperative object; signal temporal; stl formula; manipulation ... See more keywords
Receding Horizon Control With Online Barrier Function Design Under Signal Temporal Logic Specifications
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2022.3195470
Abstract: Signal temporal logic (STL) has been found to be an expressive language for describing complex, time-constrained tasks in several robotic applications. Existing methods encode such specifications by either using integer constraints or by employing set… read more here.
Keywords: time; horizon control; receding horizon; signal temporal ... See more keywords
Two-Phase Motion Planning Under Signal Temporal Logic Specifications in Partially Unknown Environments
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3203752
Abstract: This article studies the planning problem for a robot residing in partially unknown environments under signal temporal logic (STL) specifications, where most of the existing planning methods using STL rely on a fully known environment.… read more here.
Keywords: signal temporal; two phase; unknown environments; phase ... See more keywords
Multiple Subformulae Cooperative Control for Multiagent Systems Under Conflicting Signal Temporal Logic Tasks
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3215812
Abstract: This article studies the temporal logic problem for multiagent systems, where each agent is subject to signal temporal logic (STL) tasks with multiple subtasks. In the distributed framework, due to the existence of coupling subtasks,… read more here.
Keywords: signal temporal; step; multiagent systems; temporal logic ... See more keywords
Offline and Online Learning of Signal Temporal Logic Formulae Using Decision Trees
Sign Up to like & getrecommendations! Published in 2021 at "ACM Transactions on Cyber-Physical Systems"
DOI: 10.1145/3433994
Abstract: In this article, we focus on inferring high-level descriptions of a system from its execution traces. Specifically, we consider a classification problem where system behaviors are described using formulae of Signal Temporal Logic (STL). Given… read more here.
Keywords: decision; signal temporal; system; online learning ... See more keywords
Mixed-Integer Programming for Signal Temporal Logic With Fewer Binary Variables
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.48550/arxiv.2204.06367
Abstract: 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). The MICP approach… read more here.
Keywords: signal temporal; binary variables; mixed integer; integer programming ... See more keywords