{"id":"https://openalex.org/W2293445725","doi":"https://doi.org/10.1109/acc.2016.7525063","title":"An MILP approach for real-time optimal controller synthesis with Metric Temporal Logic specifications","display_name":"An MILP approach for real-time optimal controller synthesis with Metric Temporal Logic specifications","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2293445725","doi":"https://doi.org/10.1109/acc.2016.7525063","mag":"2293445725"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2016.7525063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7525063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1603.02650","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067194240","display_name":"Sayan Saha","orcid":"https://orcid.org/0000-0002-9028-3600"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sayan Saha","raw_affiliation_strings":["Department of Electrical, Rensselaer Polytechnic Institute, Troy, NY","Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Rensselaer Polytechnic Institute, Troy, NY","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, United States","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029921181","display_name":"A. Agung Julius","orcid":"https://orcid.org/0000-0002-0970-3226"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Agung Julius","raw_affiliation_strings":["Department of Electrical, Rensselaer Polytechnic Institute, Troy, NY","Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Rensselaer Polytechnic Institute, Troy, NY","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, United States","institution_ids":["https://openalex.org/I165799507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165799507"],"apc_list":null,"apc_paid":null,"fwci":0.3101,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.3969566,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1105","last_page":"1110"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11450","display_name":"Model-Driven Software Engineering Techniques","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10126","display_name":"Logic, programming, and type systems","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6960940957069397},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6273670196533203},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.6199873089790344},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5622367858886719},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5583808422088623},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5569077134132385},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5560356378555298},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.5535625219345093},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.5109843015670776},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49099472165107727},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.4365568459033966},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.4364911615848541},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.422929584980011},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3848121166229248},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3649899363517761},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24902647733688354},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22560518980026245},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2062332034111023},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18794262409210205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11021408438682556}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6960940957069397},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6273670196533203},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.6199873089790344},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5622367858886719},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5583808422088623},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5569077134132385},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5560356378555298},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.5535625219345093},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.5109843015670776},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49099472165107727},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.4365568459033966},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.4364911615848541},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.422929584980011},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3848121166229248},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3649899363517761},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24902647733688354},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22560518980026245},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2062332034111023},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18794262409210205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11021408438682556},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/acc.2016.7525063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7525063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1603.02650","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1603.02650","pdf_url":"https://arxiv.org/pdf/1603.02650","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2293445725","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1603.02650.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1603.02650","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1603.02650","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1603.02650","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1603.02650","pdf_url":"https://arxiv.org/pdf/1603.02650","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2293445725.pdf","grobid_xml":"https://content.openalex.org/works/W2293445725.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1506101803","https://openalex.org/W1977985274","https://openalex.org/W1978100913","https://openalex.org/W1980088782","https://openalex.org/W1986417217","https://openalex.org/W2011039300","https://openalex.org/W2017714866","https://openalex.org/W2026629052","https://openalex.org/W2049399166","https://openalex.org/W2064572756","https://openalex.org/W2071797744","https://openalex.org/W2079051276","https://openalex.org/W2091682553","https://openalex.org/W2092884371","https://openalex.org/W2095901198","https://openalex.org/W2110579257","https://openalex.org/W2117218135","https://openalex.org/W2131399618","https://openalex.org/W2134312936","https://openalex.org/W2141789581","https://openalex.org/W2150335178","https://openalex.org/W2296733074","https://openalex.org/W2536620281","https://openalex.org/W2963657380","https://openalex.org/W6610072603","https://openalex.org/W6646916188","https://openalex.org/W6671268616","https://openalex.org/W6674485495"],"related_works":["https://openalex.org/W2963657380","https://openalex.org/W2968467774","https://openalex.org/W2038469972","https://openalex.org/W3144995812","https://openalex.org/W3119689395","https://openalex.org/W2064572756","https://openalex.org/W2785889288","https://openalex.org/W3085378581","https://openalex.org/W2343223723","https://openalex.org/W1603607851","https://openalex.org/W2886235760","https://openalex.org/W2336884378","https://openalex.org/W2004008894","https://openalex.org/W2083881084","https://openalex.org/W2769310020","https://openalex.org/W3157833724","https://openalex.org/W2301132747","https://openalex.org/W3188389400","https://openalex.org/W2142547161","https://openalex.org/W2950028004"],"abstract_inverted_index":{"The":[0],"fundamental":[1],"idea":[2],"of":[3,16,37,54,92,117,148,156,175],"this":[4],"work":[5],"is":[6,126],"to":[7,42,46,127,151,162,170],"synthesize":[8],"reactive":[9],"controllers":[10],"such":[11,82,153],"that":[12,22,132],"closed-loop":[13,130],"execution":[14],"trajectories":[15,53,86,155],"the":[17,35,43,47,51,55,84,102,134,146,157,164,172],"system":[18,25,56,77,111,113],"satisfies":[19,133],"desired":[20,30,201],"specifications":[21,72,114],"ensure":[23],"correct":[24],"behaviors,":[26],"while":[27],"optimizing":[28],"a":[29,38,59,90,95,106,129,186,191,195,200],"performance":[31],"criteria.":[32],"We":[33,179],"define":[34],"correctness":[36],"system's":[39,44],"behavior":[40],"according":[41],"relation":[45],"environment,":[48],"for":[49,184,190],"example,":[50],"output":[52,85],"terminate":[57],"in":[58,101,115,136,188],"goal":[60,103,125],"set":[61],"without":[62],"entering":[63],"an":[64,140],"unsafe":[65],"set.":[66,104],"Using":[67,139],"Metric":[68],"Temporal":[69],"Logic":[70],"(MTL)":[71],"we":[73,143],"can":[74],"capture":[75],"complex":[76],"behaviors":[78],"and":[79,112],"timing":[80],"requirements,":[81],"as":[83],"must":[87],"pass":[88],"through":[89,194],"number":[91],"way-points":[93],"within":[94],"certain":[96],"time":[97],"frame":[98],"before":[99],"terminating":[100],"Given":[105],"Mixed":[107],"Logical":[108],"Dynamical":[109],"(MLD)":[110],"terms":[116],"MTL":[118,165],"formula":[119,166],"or":[120],"simpler":[121],"reach-avoid":[122],"specifications,":[123,135],"our":[124],"find":[128],"trajectory":[131],"non-deterministic":[137],"environments.":[138],"MILP":[141,177],"framework":[142],"search":[144],"over":[145],"space":[147],"input":[149],"signals":[150],"obtain":[152],"valid":[154],"system,":[158],"by":[159],"adding":[160],"constraints":[161],"satisfy":[163],"only":[167],"when":[168],"necessary,":[169],"avoid":[171],"exponential":[173],"complexity":[174],"solving":[176],"problems.":[178],"also":[180],"present":[181],"experimental":[182],"results":[183],"planning":[185],"path":[187],"real-time":[189],"mobile":[192],"robot":[193],"dynamically":[196],"changing":[197],"environment":[198],"with":[199],"task":[202],"specification.":[203]},"counts_by_year":[{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}