{"id":"https://openalex.org/W4390776902","doi":"https://doi.org/10.1109/tro.2024.3353081","title":"Continuous-Time Control Synthesis Under Nested Signal Temporal Logic Specifications","display_name":"Continuous-Time Control Synthesis Under Nested Signal Temporal Logic Specifications","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4390776902","doi":"https://doi.org/10.1109/tro.2024.3353081"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3353081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3353081","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022512002","display_name":"Pian Yu","orcid":"https://orcid.org/0000-0001-6046-7129"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Pian Yu","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101872416","display_name":"Xiao Tan","orcid":"https://orcid.org/0000-0001-6012-2761"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Xiao Tan","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5022512002"],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":2.6703,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89943014,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":"40","issue":null,"first_page":"2272","last_page":"2286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9860000014305115,"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":0.9775999784469604,"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":0.7005425691604614},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.6399388909339905},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.577424168586731},{"id":"https://openalex.org/keywords/nested-loop-join","display_name":"Nested loop join","score":0.5353090763092041},{"id":"https://openalex.org/keywords/computation-tree-logic","display_name":"Computation tree logic","score":0.49935221672058105},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.46716463565826416},{"id":"https://openalex.org/keywords/programmer","display_name":"Programmer","score":0.4549642503261566},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.41071128845214844},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36435937881469727},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.24636298418045044},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1803278625011444},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.1250200867652893}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7005425691604614},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.6399388909339905},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.577424168586731},{"id":"https://openalex.org/C1306188","wikidata":"https://www.wikidata.org/wiki/Q4060687","display_name":"Nested loop join","level":2,"score":0.5353090763092041},{"id":"https://openalex.org/C198008173","wikidata":"https://www.wikidata.org/wiki/Q1040040","display_name":"Computation tree logic","level":3,"score":0.49935221672058105},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.46716463565826416},{"id":"https://openalex.org/C2778514511","wikidata":"https://www.wikidata.org/wiki/Q1374194","display_name":"Programmer","level":2,"score":0.4549642503261566},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.41071128845214844},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36435937881469727},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.24636298418045044},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1803278625011444},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.1250200867652893},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3353081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3353081","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"},{"id":"https://openalex.org/F4320322581","display_name":"Vetenskapsr\u00e5det","ror":"https://ror.org/03zttf063"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1498432697","https://openalex.org/W1547304883","https://openalex.org/W1582899597","https://openalex.org/W1935692274","https://openalex.org/W1975236902","https://openalex.org/W2056864430","https://openalex.org/W2092884371","https://openalex.org/W2095274657","https://openalex.org/W2151958719","https://openalex.org/W2487779201","https://openalex.org/W2560504659","https://openalex.org/W2576277975","https://openalex.org/W2594675090","https://openalex.org/W2731247677","https://openalex.org/W2772485446","https://openalex.org/W2774442510","https://openalex.org/W2783139992","https://openalex.org/W2785700716","https://openalex.org/W2841721725","https://openalex.org/W2913056282","https://openalex.org/W2945541231","https://openalex.org/W2963606896","https://openalex.org/W2972788319","https://openalex.org/W3023279500","https://openalex.org/W3034174753","https://openalex.org/W3045538479","https://openalex.org/W3101375348","https://openalex.org/W3103842254","https://openalex.org/W3105086785","https://openalex.org/W3107034996","https://openalex.org/W3154466073","https://openalex.org/W3158895321","https://openalex.org/W3203511922","https://openalex.org/W3205164248","https://openalex.org/W3206190169","https://openalex.org/W4287509573","https://openalex.org/W4292070345","https://openalex.org/W4315471884","https://openalex.org/W4315488755","https://openalex.org/W4388903135","https://openalex.org/W4391020604","https://openalex.org/W4391020705","https://openalex.org/W6785439472","https://openalex.org/W6793246665"],"related_works":["https://openalex.org/W85300993","https://openalex.org/W858755136","https://openalex.org/W2143025323","https://openalex.org/W1981889059","https://openalex.org/W3005864166","https://openalex.org/W2140351986","https://openalex.org/W4288601052","https://openalex.org/W2572650333","https://openalex.org/W1969550103","https://openalex.org/W2184759525"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3,73],"propose":[4],"a":[5,45,81,86],"novel":[6],"approach":[7,56],"for":[8,33,132,154,185],"the":[9,24,59,75,90,97,107,110,119,133,142,157,166,169,179,182],"continuous-time":[10,87],"control":[11,31,68],"synthesis":[12,32],"of":[13,26,61,77,113,144,161,168,181],"nonlinear":[14],"systems":[15],"under":[16,190],"nested":[17,37,41,191],"signal":[18,62],"temporal":[19,38,42,63],"logic":[20,64],"(STL)":[21],"specifications.":[22],"While":[23],"majority":[25],"existing":[27],"literature":[28],"focuses":[29],"on":[30,58],"STL":[34,83,192],"specifications":[35],"without":[36],"operators,":[39],"addressing":[40],"operators":[43],"poses":[44],"notably":[46],"more":[47],"challenging":[48],"scenario":[49],"and":[50,67,85,96,104,187],"requires":[51],"new":[52],"theoretical":[53],"advancements.":[54],"Our":[55],"hinges":[57],"concepts":[60],"tree":[65],"(sTLT)":[66],"barrier":[69],"function":[70],"(CBF).":[71],"Specifically,":[72],"detail":[74],"construction":[76],"an":[78,114,145,151],"sTLT":[79,91,103,115],"from":[80],"given":[82],"formula":[84],"dynamical":[88],"system,":[89],"semantics":[92],"(i.e.,":[93],"satisfaction":[94,111],"condition),":[95],"equivalence":[98],"or":[99],"under-approximation":[100],"relation":[101],"between":[102],"STL.":[105],"Leveraging":[106],"fact":[108],"that":[109],"condition":[112],"is":[116,139],"essentially":[117],"keeping":[118],"state":[120],"within":[121],"certain":[122,125],"sets":[123],"during":[124],"time":[126,159],"intervals,":[127],"it":[128],"provides":[129],"explicit":[130],"guidelines":[131],"CBF":[134],"design.":[135],"The":[136],"resulting":[137],"controller":[138],"obtained":[140],"through":[141],"utilization":[143],"online":[146,155],"CBF-based":[147],"program":[148],"coupled":[149],"with":[150,164],"event-triggered":[152],"scheme":[153],"updating":[156],"activation":[158],"interval":[160],"each":[162],"CBF,":[163],"which":[165],"correctness":[167],"system":[170],"behavior":[171],"can":[172],"be":[173],"established":[174],"by":[175],"construction.":[176],"We":[177],"demonstrate":[178],"efficacy":[180],"proposed":[183],"method":[184],"single-integrator":[186],"unicycle":[188],"models":[189],"formulas.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}