Coupled Multi-Robot Systems Under Linear Temporal Logic and Signal Temporal Logic Tasks

On Signal Temporal Logic

Regular Linear Temporal Logic

We present regular linear temporal logic (RLTL), a logic that generalizes linear temporal logic with the ability to use regular expressions arbitrarily as sub-expressions. Every LTL operator can be defined as a context in regular linear temporal logic. This implies that there is a (linear) translation from LTL to RLTL. Unlike LTL, regular linear temporal logic can define all ω-regular languages...

Robust Linear Temporal Logic

Although it is widely accepted that every system should be robust, in the sense that “small” violations of environment assumptions should lead to “small” violations of system guarantees, it is less clear how to make this intuitive notion of robustness mathematically precise. In this paper, we address the problem of how to specify robustness in temporal logic. Our solution consists of a robust v...

Sampling-Based Path Planning for Multi-robot Systems with Co-Safe Linear Temporal Logic Specifications

This paper addresses the problem of path planning for multiple robots under high-level specifications given as syntactically co-safe linear temporal logic formulae. Most of the existing solutions use the notion of abstraction to obtain a discrete transition system that simulates the dynamics of the robot. Nevertheless, these solutions have poor scalability with the dimension of the configuratio...

Linear Temporal Logic and Linear Dynamic Logic on Finite Traces

In this paper we look into the assumption of interpreting LTL over finite traces. In particular we show that LTLf , i.e., LTL under this assumption, is less expressive than what might appear at first sight, and that at essentially no computational cost one can make a significant increase in expressiveness while maintaining the same intuitiveness of LTLf interpreted over finite traces. Indeed, w...