Reactive Symbolic Planning and Control in Dynamic Adversarial Environments

• 成果类型: Article
• 署名作者: Shamgah, Laya; Tadewos, Tadewos G.; Newaz, Abdullah Al Redwan; Karimoddini, Ali; Esterline, Albert C.
• 署名单位: University of North Carolina; North Carolina A&T State University; University of North Carolina; North Carolina A&T State University; University of Louisiana System; University of New Orleans
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3195431
• 发表日期: 2023
• 页码: 3409-3424
• 关键词: Adversarial environment; reach-avoid; reactive synthesis; symbolic planning and control; temporal logic

摘要

Satisfying both safety and reachability requirements in dynamic adversarial environments is very challenging, particularly when little or no information about the dynamics and intentions of the adversarial objects is available. Therefore, this article addresses the problem of path planning and control of autonomous vehicles in a dynamic adversarial reach-avoid scenario with two noncooperative vehicles and their competitive objectives: 1) reaching a target and avoiding the other vehicle for one of them, called attacker, and 2) protecting the target and capturing the opponent vehicle for the other one, called defender. In the proposed solution, first, a discrete version of the problem is formulated and solved using linear temporal logic, temporal games, and mu-calculus to construct winning discrete strategies that guarantee safety and reachability. A comprehensive discussion on the existence, correctness, and complexity analysis of the solution is also provided. Finally, a novel correct-by-design hybrid controller is designed to generate smooth control signals that preserve the satisfaction of safety and reachability.