In recent years, formal methods have been extensively used in the design of autonomous
systems. By employing mathematically rigorous techniques, formal methods can provide …

In this paper, we focus on the challenging problem of model predictive control (MPC) for
dynamics systems with high-level tasks formulated as signal temporal logic (STL). The state …

Traditional hierarchical control methodologies refine controllers from an abstract to a
concrete system using a simulation relation established over the state sets of both systems …

We develop a cooperative sampling-based motion planning algorithm for two autonomous
agents under coupled tasks expressed as signal temporal logic constraints. The algorithm …

Linear temporal logic (LTL) with the knowledge operator, denoted as KLTL, is a variant of
LTL that incorporates what an agent knows or learns at run-time into its specification …

The increasing level of autonomy and intelligence of robotic systems in carrying out complex
tasks can be expected to revolutionize both the industry and our everyday lives. This thesis …

As robots become increasingly prevalent in society, it is essential to prescribe complex high-
level tasks to them. Tasks prescribed over temporal logics present two main challenges …