# jemdoc: menu{MENU595}{rbe595/index.html}, showsource
= RBE595: Formal methods in Robotics
Fall Semester, 2019

/note that this is a schedule from 2017 and is subject to a lot of changes in 2019. The schedule will be updated soon./
== Lectures schedule.
- *Formal specification: LTL and Automata*
-- References:
--- John E. Hopcroft, Rajeev Motwani, Jeffrey D. Ullman (2000). "Introduction to Automata Theory, Languages, and Computation" (2nd Edition). Pearson Education.
--- "Principle of Model Checking." Chap 3, 4.
--- Manna, Zohar, and Amir Pnueli. "The temporal logic of reactive and concurrent systems: Specification." Springer Science & Business Media, 2012.

- *Temporal logic verification in transition systems: Invariance, Safety, and Liveness*
-- Principle of Model Checking. Chap 5.
- *Optimal planning in Markov decision processes under temporal logic constraints*
-- References:
--- /Preliminary: Markov decision processes and optimal planning/: Puterman, Martin L. "Markov decision processes: discrete stochastic dynamic programming". John Wiley & Sons, 2014.
--- "PRISM Model Checker: Tutorial." http://www.prismmodelchecker.org/tutorial/
--- Jie Fu, Ufuk Topcu, "Probably Approximately Correct MDP Learning and Control With Temporal Logic Constraints",  Robotics: Science and Systems X, 2014.
--- L. de Alfaro. "Formal Verification of Probabilistic Systems." Ph.D. Dissertation, Stanford University, 1997.

- *Reactive synthesis in dynamic environments*
-- References:
--- Thomas, W. (2002). "Automata, logics, and infinite games: a guide to current research (Vol. 2500)." Springer Science & Business Media.

- *Abstraction-based control design for continuous systems under temporal logic constraints* 
-- References:
--- Habets, L. C. G. J. M., and Jan H. Van Schuppen. "A control problem for affine dynamical systems on a full-dimensional polytope." Automatica 40.1 (2004): 21-35.
--- Kloetzer, Marius, and Calin Belta. "A fully automated framework for control of linear systems from temporal logic specifications." IEEE Transactions on Automatic Control 53.1 (2008): 287-297.

- *Safe verification of continuous/hybrid systems using Barrier functions*
-- References:
--- Prajna, Stephen, Ali Jadbabaie, and George J. Pappas. "A framework for worst-case and stochastic safety verification using barrier certificates." IEEE Transactions on Automatic Control 52.8 (2007): 1415-1428.
---  (with supplementary reading of sum of squares programming:)  Papachristodoulou, Antonis, and Stephen Prajna. "A tutorial on sum of squares techniques for systems analysis." American Control Conference, 2005. Proceedings of the 2005. IEEE, 2005.
--- /A brief introduction to hybrid systems/: Lygeros, John, Claire Tomlin, and Shankar Sastry. "Hybrid systems: modeling, analysis and control." preprint (1999).

- *Provably correct reach-avoid control design in continuous systems using Control Lyapunov and Barrier functions*
-- References:
--- Romdlony,MuhammadZakiyullah,and Bayu Jayawardhana. "Uniting control Lyapunov and control barrier functions." Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on. IEEE, 2014.


- *Reach-avoid control design using reachability analysis and differential game theory*
-- References:
--- Kurzhanski, Alexander B., and Pravin Varaiya. "Dynamic optimization for reachability problems." Journal of Optimization Theory and Applications 108.2 (2001): 227-251.
--- Hwang,Inseok,DuanStipanovi,and Claire Tomlin. "Polytopic approximations of reachable sets applied to linear dynamic games and a class of nonlinear systems." Advances in control, communication networks, and transportation systems (2005): 3-19.

- *Sampled Topic: Optimization-based trajectory generation for LTL specifications*
-- References:
--- Wolff,Eric M.,Ufuk Topcu,and Richard M. Murray. "Optimization-based trajectory generation with linear temporal logic specifications." ICRA 2014.
--- Mixed Integer Programming for Control: [http://acl.mit.edu/milp/ Link]
--- /Integrated with Model Predictive Control/: Raman, Vasumathi, et al. "Model predictive control with signal temporal logic specifications."CDC, 2014.

- *Sampled Topic: A brief introduction to Metric Temporal Logic and Timed Automata*
-- References:
--- Ouaknine, Jo"el, and James Worrell. "Some Recent Results in Metric Temporal Logic." FORMATS. Vol. 5215. 2008.
--- Alur, Rajeev, and David L. Dill. "A theory of timed automata." Theoretical computer science 126.2 (1994): 183-235.

* The topics we have covered in class is far from a comprehensive list. The following list includes more recent work for your independent study:*
- /Minimum violation planning/: Kim, Kangjin, Georgios Fainekos, and Sriram Sankaranarayanan. "On the minimal revision problem of specification automata." The International Journal of Robotics Research 34.12 (2015): 1515-1535.
- /Inverse Reinforcement Learning meets temporal logic constraints/: Min Wen, Ivan Papusha, Ufuk Topcu, "Learning from Demonstrations with High-Level Side Information", Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence
Main track. Pages 3055-3061, 2017.
- /Joint sensing and reactive synthesis/: Jie Fu and Ufuk Topcu, "Synthesis of joint control and active sensing strategies under temporal logic constraints," IEEE Transactions on Automatic Control, vol.PP, no.99, pp.1-1, 2016.
- /Generalized reactivity/: Piterman, Nir, Amir Pnueli, and Yaniv Sa'ar. "Synthesis of reactive (1) designs." VMCAI. Vol. 3855. 2006.
- /MPC meets reactive synthesis/: Wongpiromsarn, Tichakorn, Ufuk Topcu, and Richard M. Murray. "Receding horizon control for temporal logic specifications." Proceedings of the 13th ACM international conference on Hybrid systems: computation and control. ACM, 2010.
 


If you have any suggestion on the course, please feel free to email me at jfu2 AT wpi.edu.