Reactive synthesis from signal temporal logic specifications

Raman, Vasumathi; Donzé, Alexandre; Sadigh, Dorsa; Murray, Richard M.; Seshia, Sanjit A.

doi:10.1145/2728606.2728628

Cited by 235 publications

(214 citation statements)

References 25 publications

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“…Signal temporal logic (STL) has been used for controller synthesis in a variety of domains for uncertain systems using receding horizon control techniques (Farahani et al, 2017(Farahani et al, , 2015Raman et al, 2015). Transforming STL constraints into mixed integer linear constraints has been used in Raman et al (2014).…”

Section: Introductionmentioning

confidence: 99%

Robust Model Predictive Control with Signal Temporal Logic constraints for Barcelona Wastewater System

et al. 2017

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We propose a traceable approach for the control of the Barcelona wastewater system that is subject to sudden weather-change events within the Mediterranean climate. Due to the unpredictable weather changes, lack of appropriate control methodologies may result in overflow in the sewage system, which causes environmental contamination (pollution). In order to improve the management of the wastewater system and to reduce the contamination, we propose robust model predictive control, which is an online control approach that designs the control actions (i.e., flows through network actuators) under the worst-case scenario while minimizing the associated operational costs. We employ signal temporal logic to specify the desired behavior of the controlled system once an overflow occurs and encode this behavior as constraints so that the synthesized controller reacts in time to decrease and eliminate the overflow. We apply our proposed technique to a representative catchment of the Barcelona wastewater system to illustrate its effectiveness.

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Section: Introductionmentioning

confidence: 99%

Robust Model Predictive Control with Signal Temporal Logic constraints for Barcelona Wastewater System

et al. 2017

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“…Due to the fact that we are interested in imposing timed constraints to the system, the aforementioned works cannot be directly utilized. Timed constraints have been introduced for the single agent case in [Gol and Belta 2013, Raman et al 2015, Fu and Topcu 2015, Zhou et al 2016 and for the multi-agent case in [Karaman andFrazzoli 2008, Nikou et al 2016b]. Authors in [Karaman and Frazzoli 2008] addressed the vehicle routing problem, under Metric Temporal Logic (MTL) specifications.…”

Section: Introductionmentioning

confidence: 99%

Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications * *This work was supported by the H2020 ERC Starting Grand BUCOPHSYS, the Swedish Research Council (VR), the Swedish Foundation for Strategic Research (SSF) and the Knut och Alice Wallenberg Foundation.

2017

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This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the motion of the agents in the workspace is abstracted into individual Transition Systems (TS). Second, each agent is assigned with an individual formula given in Metric Interval Temporal Logic (MITL) and in parallel, the team of agents is assigned with a collaborative team formula. The proposed method is based on a correct-by-construction control synthesis method, and hence guarantees that the resulting closed-loop system will satisfy the specifications. The specifications considers boolean-valued properties under real-time. Extended simulations has been performed in order to demonstrate the efficiency of the proposed controllers.Keywords: Reachability analysis, verification and abstraction of hybrid systems, Multi-agent systems, Control design for hybrid systems, Modelling and control of hybrid and discrete event systems, Temporal Logic

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“…For example, for alw [0,10] ev [1,6] ϕ, a trajectory of length N ≥ 10 + 6 = 16 is sufficient to determine whether the formula is satisfiable.…”

Section: Signal Temporal Logicmentioning

confidence: 99%

“…In [7,6] we described a new technique for synthesizing controllers for hybrid systems subject to specifications expressed in Signal Temporal Logic (STL). The present document introduces the toolbox BluSTL, which implements the ideas presented in these papers.…”

Section: Introductionmentioning

confidence: 99%

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BluSTL: Controller Synthesis from Signal Temporal Logic Specifications

Donzé¹,

Raman²

EPiC Series in Computing

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We present BluSTL, a MATLAB toolbox for automatically generating controllers from specifications written in Signal Temporal Logic (STL). The toolbox takes as input a system and a set of constraints expressed in STL and constructs an open-loop or a closed-loop (in a receding horizon or Model Predictive fashion) controller that enforces these constraints on the system while minimizing some cost function. The controller can also be made reactive or robust to some external input or disturbances. The toolbox is available at https://github.com/BluSTL/BluSTL.

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Reactive synthesis from signal temporal logic specifications

Cited by 235 publications

References 25 publications

Robust Model Predictive Control with Signal Temporal Logic constraints for Barcelona Wastewater System

Robust Model Predictive Control with Signal Temporal Logic constraints for Barcelona Wastewater System

Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications * *This work was supported by the H2020 ERC Starting Grand BUCOPHSYS, the Swedish Research Council (VR), the Swedish Foundation for Strategic Research (SSF) and the Knut och Alice Wallenberg Foundation.

BluSTL: Controller Synthesis from Signal Temporal Logic Specifications

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